Bioinspired mechanical design of an upper limb exoskeleton for rehabilitation and motor control assessment

Miranda, Andrey Bugarin W.; Yasutomi, André Yuji; Souit, Camila; Forner-Cordero, Arturo

doi:10.1109/biorob.2012.6290811

Cited by 13 publications

(7 citation statements)

References 20 publications

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“…Although they accepted this joints implementation as nonideal to emulate human joints, their use was neglected due to the high difficulty for its implementation. Miranda et al [24] designed and implemented a robotic upper limb exoskeleton (elbow) with bioinspired actuators. Furthermore, Zhu et al [25] proposed a biomimetic knee exoskeleton, focusing on the energetic aspects of the segmented foot design, in which they embedded a compliant joint in order to upgrade human walking of assistance exoskeletons.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications

Piña-Martínez¹,

Rodriguez-Leal

2015

Mathematical Problems in Engineering

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Current trends in Robotics aim to close the gap that separates technology and humans, bringing novel robotic devices in order to improve human performance. Although robotic exoskeletons represent a breakthrough in mobility enhancement, there are design challenges related to the forces exerted to the users’ joints that result in severe injuries. This occurs due to the fact that most of the current developments consider the joints as noninvariant rotational axes. This paper proposes the use of commercial vision systems in order to perform biomimetic joint design for robotic exoskeletons. This work proposes a kinematic model based on irregular shaped cams as the joint mechanism that emulates the bone-to-bone joints in the human body. The paper follows a geometric approach for determining the location of the instantaneous center of rotation in order to design the cam contours. Furthermore, the use of a commercial vision system is proposed as the main measurement tool due to its noninvasive feature and for allowing subjects under measurement to move freely. The application of this method resulted in relevant information about the displacements of the instantaneous center of rotation at the human knee joint.

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Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications

Piña-Martínez¹,

Rodriguez-Leal

2015

Mathematical Problems in Engineering

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“…These results pave the way to further studies on coincident timing tasks involving different types of perturbations for the design of rehabilitation exoskeletons. Further experiments incorporating these concepts are being carried out with a 1 dof exoskeleton already developed in this group [21].…”

Section: Discussionmentioning

confidence: 99%

Experimental assessment of a coincident timing motor task of the arm under a passive mechanical perturbation

Quadrado

Noriega

Forner-Cordero

2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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There are many motor control aspects that must be taken into account for the design and application of rehabilitation robots and exoskeletons. In this respect the outcomes from behavioral motor control studies can provide relevant design criteria. In this context, to verify the level of motor learning and adaptation under the influence of mechanical perturbations, we used a coincident timing task. The task consisted of hitting with the hand a virtual target falling on the screen. The movement was performed in the horizontal plane and consisted of an elbow flexion to reach the real marker on a table. Sixteen volunteers were divided into two groups: 1 -task without perturbation on the hand and, 2 -task with a predictable mechanical perturbation on the hand. Data were analyzed by the percentage of correct responses and the tendency of the correct responses. In order to assess the duration as well as the velocity and acceleration of the movement, inertial sensors were used. The results showed a task performance improvement for group 2 when compared to group 1. Furthermore, group 1 showed a trend to delay on correct responses, while the trend in group 2 was to anticipate on correct responses. These results indicate that a predictable mechanical perturbation during learning this coincident timing task can improve the motor learning process and paves the way to further experiments with the use of an upper limb exoskeleton.

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“…The emergence of end effector robots that exhibit interesting rehabilitation outcomes for gait training has been reported in the literature 45 ; however, there have yet to be any studies examining their benefits in hand function, and they have not been able to guarantee safety and natural kinematic motion in acute hand patients. 46 Indeed, this tool has to be effective in terms of actions addressed to an impaired or flaccid hand, has to guarantee high reliability, and has to be easy to use for the patient and therapist. A wearable glove (orthosis) is the only solution offering a satisfactory compromise of these issues.…”

Section: Interpretationsmentioning

confidence: 99%

Robot-Assisted Rehabilitation of Hand Paralysis After Stroke Reduces Wrist Edema and Pain: A Prospective Clinical Trial

Borboni

Villafañe

Mullè

et al. 2017

Journal of Manipulative and Physiological Therapeutics

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Bioinspired mechanical design of an upper limb exoskeleton for rehabilitation and motor control assessment

Cited by 13 publications

References 20 publications

Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications

Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications

Experimental assessment of a coincident timing motor task of the arm under a passive mechanical perturbation

Robot-Assisted Rehabilitation of Hand Paralysis After Stroke Reduces Wrist Edema and Pain: A Prospective Clinical Trial

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