Active Elbow Orthosis

Ripel, Tomáš; Krejsa, J.; Hrbáček, Jiří; Čižmář, Igor

doi:10.5772/58874

Cited by 16 publications

(12 citation statements)

References 17 publications

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“…It has to be noted that no substantial improvement of the execution time index was shown on the final segment of the guidance trajectory (100mm distance from target), but a significant reduction with respect to the CO controller is nonetheless expected on longer paths, e.g., motions from/to the resting configuration of the manipulator. The smoothness of the assisted trajectory (mean jerk below 1m/s 3 ) is guaranteed for all three controllers. Moreover, the experimental validation demonstrates the reliability of the SV controller with respect to the non-ideality of the dynamic model-based torque controller and to the time-varying human interaction during the cooperation.…”

Section: Discussionmentioning

confidence: 99%

“…Robotic technology can be used to supplement, augment and improve human performance during the execution of tasks [1][2][3][4]. In particular, a robotic device can cooperate with humans [5] during the repetitive execution of targeting and/or reaching tasks, which require one to smoothly move a tool inside a working area and to keep it in an arbitrary, stable position with high accuracy.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

Beretta

Momi

Baena

et al. 2015

International Journal of Advanced Robotic Systems

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Cooperatively controlled robotic assistants can be used in surgery for the repetitive execution of targeting/ reaching tasks, which require smooth motions and accurate placement of a tool inside a working area. A variable damping controller, based on a priori knowledge of the location of the surgical site, is proposed to enhance the physical human-robot interaction experience. The performance of this and of typical constant damping controllers is comparatively assessed using a redundant light-weight robot. Results show that it combines the positive features of both null (acceleration capabilities > 0.8m/s 2 ) and optimal (mean pointing error < 1.5mm) constant damping controllers, coupled with smooth and intuitive convergence to the target (direction changes reduced by 30%), which ensures that assisted tool trajectories feel natural to the user. An application scenario is proposed for brain cortex stimulation procedures, where the surgeon's intentions of motion are explicitly defined intra-operatively through an imageguided navigational system.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

Beretta

Momi

Baena

et al. 2015

International Journal of Advanced Robotic Systems

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“…Ripel et al [73] presented the design of a motor-powered rehabilitation device, called Active Elbow Orthosis (AEO). The device was initially designed for the elbow joint but can be easily modified for other joints as well.…”

Section: Active Elbow Orthosismentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research. The technology promises to improve the upper-limb functionalities required for performing activities of daily living. The exoskeleton technology is evolving quickly but still needs interdisciplinary research to solve technical challenges, e.g., kinematic compatibility and development of effective human–robot interaction. In this paper, the recent development in upper-limb exoskeletons is reviewed. The key challenges involved in the development of assistive exoskeletons are highlighted by comparing available solutions. This paper provides a general classification, comparisons, and overview of the mechatronic designs of upper-limb exoskeletons. In addition, a brief overview of the control modalities for upper-limb exoskeletons is also presented in this paper. A discussion on the future directions of research is included.

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“…Progress in the fields of biomechanics and robotics has made it possible to create a completely new group of biomechanical equipment, which includes wearable orthoses with drives. 1,2 These orthoses are intended to support or replace the functions of the muscular system of human extremities. Traditional orthoses use electric drives that, due to their high rigidity, can cause hazards to human joints.…”

Section: Introductionmentioning

confidence: 99%

Using the Bioelectric Signals to Control of Wearable Orthosis of the Elbow Joint with Bi-Muscular Pneumatic Servo-Drive

Dindorf¹,

Woś²

2019

Robotica

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SUMMARYThis study presents a new design of a wearable orthosis of elbow joint with a bimuscular pneumatic servo-drive (PSD) with control based on the recording of bioelectric signals (BESs). The authors analyzed the impact of the induced brain activity and the muscular tension within the head of the participant on the BESs that can be used to control the PSD of the elbow joint orthosis. To control the elbow joint orthosis, a distributed control system (DCS) was developed, which contains two control layers: a master layer connected to the device for recording the BES and a direct layer contained in a wireless manner with the controller of the PSD. A kinematic-dynamic model of the elbow joint orthosis, patterned after the biological model of human biceps–triceps, was used in the programming of the PSD controller. A biomimetic dynamic model of the pneumatic muscle actuator (PMA) was used, in which the contraction force results from the adopted exponential static model of the pneumatic muscle (PM). The use of direct visual feedback (DVF) makes it possible for the participant to focus on the movement of the orthosis taking into account the motoric functions of the elbow.

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Active Elbow Orthosis

Cited by 16 publications

References 17 publications

Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

A Review on Design of Upper Limb Exoskeletons

Using the Bioelectric Signals to Control of Wearable Orthosis of the Elbow Joint with Bi-Muscular Pneumatic Servo-Drive

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