An Elbow Exoskeleton for Upper Limb Rehabilitation With Series Elastic Actuator and Cable-Driven Differential

Chen, Tianyao; Casas, Rafael; Lum, Peter S.

doi:10.1109/tro.2019.2930915

Cited by 108 publications

(46 citation statements)

References 31 publications

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“…Still, it can be implemented by adding an elastic element in series with the actuation unit, i.e., series elastic actuators (SEA) [9,11,15,71], or with compliant controllers that add virtual springs and dampers to shape the virtual mechanical impedance at the joint.…”

Section: Related Work and Novel Contributionmentioning

confidence: 99%

A Human-Robot Cooperative and Personalized Compliant Joint Controller for Upper-Limb Rehabilitation Robots: The Elbow Joint Validation

Gasperina

Longatelli

Braghin

et al. 2021

Preprint

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Background: Appropriate training modalities for post-stroke upper-limb rehabilitation are key features for effective recovery after the acute event. This work presents a novel human-robot cooperative control framework that promotes compliant motion and renders different high-level human-robot interaction rehabilitation modalities under a unified low-level control scheme. Methods: The presented control law is based on a loadcell-based impedance controller provided with positive-feedback compensation terms for disturbances rejection and dynamics compensation. We developed an elbow flexion-extension experimental setup, and we conducted experiments to evaluate the controller performances. Seven high-level modalities, characterized by different levels of (i) impedance-based corrective assistance, (ii) weight counterbalance assistance, and (iii) resistance, have been defined and tested with 14 healthy volunteers.Results: The unified controller demonstrated suitability to promote good transparency and render compliant and high-impedance behavior at the joint. Superficial electromyography results showed different muscular activation patterns according to the rehabilitation modalities. Results suggested to avoid weight counterbalance assistance, since it could induce different motor relearning with respect to purely impedance-based corrective strategies. Conclusion: We proved that the proposed control framework could implement different physical human-robot interaction modalities and promote the assist-as-needed paradigm, helping the user to accomplish the task, while maintaining physiological muscular activation patterns. Future insights involve the extension to multiple degrees of freedom robots and the investigation of an adaptation control law that makes the controller learn and adapt in a therapist-like manner.

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Section: Related Work and Novel Contributionmentioning

confidence: 99%

A Human-Robot Cooperative and Personalized Compliant Joint Controller for Upper-Limb Rehabilitation Robots: The Elbow Joint Validation

Gasperina

Longatelli

Braghin

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…In this regard, note that there are recent pseudo-rigid designs that embed the device in textiles as well as make use of soft actuators [26], [27]. Their major difference to flexible devices lies in the functioning: flexible exoskeletons lack an entire structure that moves on its own.…”

Section: Introductionmentioning

confidence: 99%

A Cable-Driven Exosuit for Upper Limb Flexion Based on Fibres Compliance

et al. 2020

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Flexible soft exoskeletons, so-called exosuits, are robotic devices that interact with their users to assist or enhance muscle performance. Their lightweight design and lack of rigid parts allow assisting the user's natural motion without any constraints. They are thereby valuable in carrying out daily labour tasks and performing active stances of rehabilitation. Nonetheless, the usage of these devices in long-term applications demands anatomically adaptive designs and mechanisms to tackle textile artefacts and discrepancies in the human constitution. The soft exoskeleton described in this article is a textile-wearable design that assists shoulder and elbow flexion. The cable-driven actuation is embedded in a jacket by using several textiles and deformable parts. The inconveniences of using textile such as slipping, dampening, and pressure sores are tackled by combining textile layers with force-compliant sewing. The design also includes pieces for cable guidance, anchoring and support. These parts employ different tailoring methods so as to ease fabrication, wearing and cleaning. The motors and electronics, whose design is compatible with textiles too, are placed in a backpack. This configuration reduces forces from loads in motion and weight on the arm. Finally, the last part of the document discusses the preliminary results that have been obtained from four subjects who have worn the device.

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“…Chen et al proposed a cable-driven parallel waist rehabilitation robot, which can accurately implement the relative lateral bending, flexion, extension, and rotation of the waist on the premise of the safety, to assist the patients with waist injuries to do some rehabilitation training [22]. Chen et al designed a two-degrees-of-freedom tethered exoskeleton that can provide independent torque control on elbow flexion/extension and forearm supination/pronation by two identical series elastic actuators (SEAs), which are coupled through a novel cable-driven differential [23].…”

Section: Introductionmentioning

confidence: 99%

A New Design Scheme for Intelligent Upper Limb Rehabilitation Training Robot

Zhao

Liang

et al. 2020

IJERPH

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In view of the urgent need for intelligent rehabilitation equipment for some disabled people, an intelligent, upper limb rehabilitation training robot is designed by applying the theories of artificial intelligence, information, control, human-machine engineering, and more. A new robot structure is proposed that combines the use of a flexible rope with an exoskeleton. By introducing environmentally intelligent ergonomics, combined with virtual reality, multi-channel information fusion interaction technology and big-data analysis, a collaborative, efficient, and intelligent remote rehabilitation system based on a human’s natural response and other related big-data information is constructed. For the multi-degree of the freedom robot system, optimal adaptive robust control design is introduced based on Udwdia-Kalaba theory and fuzzy set theory. The new equipment will help doctors and medical institutions to optimize both rehabilitation programs and their management, so that patients are more comfortable, safer, and more active in their rehabilitation training in order to obtain better rehabilitation results.

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An Elbow Exoskeleton for Upper Limb Rehabilitation With Series Elastic Actuator and Cable-Driven Differential

Cited by 108 publications

References 31 publications

A Human-Robot Cooperative and Personalized Compliant Joint Controller for Upper-Limb Rehabilitation Robots: The Elbow Joint Validation

A Human-Robot Cooperative and Personalized Compliant Joint Controller for Upper-Limb Rehabilitation Robots: The Elbow Joint Validation

A Cable-Driven Exosuit for Upper Limb Flexion Based on Fibres Compliance

A New Design Scheme for Intelligent Upper Limb Rehabilitation Training Robot

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