Biomimetic orthosis for the neurorehabilitation of the elbow and shoulder (BONES)

Klein, Julius; Spencer, Steve J.; Allington, James; Minakata, K.; Wolbrecht, Eric T.; Smith, Richard L.; Bobrow, J.E.; Reinkensmeyer, David J.

doi:10.1109/biorob.2008.4762866

Cited by 66 publications

(39 citation statements)

References 37 publications

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“…Therefore it must also hold thaẗ  = 0 for all  ≥ 0. We conclude that from the closed-loop system (22), if  () ∈ Ω for all  ≥ 0, then…”

Section: mentioning

confidence: 99%

A novel linear PID controller for an upper limb exoskeleton

Rosén

2010

49th IEEE Conference on Decision and Control (CDC)

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Abstract-An upper limb exoskeleton is a wearable robotic system that is physically linked to the arm of the human operators and its seven actuated degrees of freedom (DOF) match the seven DOF of the human arm. The stability of such a system is critical given the proximity of its human operator. A new PID controller is developed which guarantee asymptotic stability for this class of robotic manipulators. A simulation was used to assess the system performance given the theoretical results of the controller's parameters with a unique exoskeleton system (EXO-UL7). The simulation also verify the semi-global asymptotic stability of the system. The proposed methodology eliminates the need of the system's dynamics model for the purpose of designing the controller. It provides an analytical tool for the controller design that is traditionally preformed experimentally (parameter tuning).

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“…Therefore it must also hold thaẗ  = 0 for all  ≥ 0. We conclude that from the closed-loop system (22), if  () ∈ Ω for all  ≥ 0, then…”

Section: mentioning

confidence: 99%

A novel linear PID controller for an upper limb exoskeleton

Rosén

2010

49th IEEE Conference on Decision and Control (CDC)

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“…The most commonly used method is a circular rail [2] around the upper arm that rotates the whole exoskeleton along the rail. And another method is a redundant linkage structure that enables shoulder rotation [11,12]. However, because these structures are bulky and heavy, these methods are difficult to use in designing a WBO for use in everyday life.…”

Section: B Joint Placementmentioning

confidence: 99%

Development of passive upper limb weight-bearing orthosis to enhance voluntary shoulder rotation for activities of daily living

Sin

Kim

Cho

2015

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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Patients with neuromuscular disorders experience problems with the activities of daily living (ADL) due to limited muscle strength. Upper limb weight-bearing orthoses have been developed to increase quality of life by enabling patients to move their arms freely. Most existing designs help patients lift their arm by compensating the gravitational force on the sagittal plane. However, the essential ADL for a patient's actual life, such as eating, drinking, scratching the face, and receiving phone calls, require motion in 3D space that is mainly performed by forearm movement. To assist forearm motion, weight should be compensated by elbow flexion/extension and shoulder medial/lateral rotation. In this study, a weight-bearing mechanism that compensates the weight in 3D space with only two zero-initial-length springs is presented. We built a 4 degree of freedom passive weight-bearing orthosis (WBO) with three rotational axes on the shoulder and one rotational axis on the elbow to mimic the natural movement of a human arm. To design the WBO, joint placement was considered, and a slider-crank mechanism was used to solve the joint misalignment problem caused by the overlapping of the joint between the WBO and the human arm. A prototype was built to verify the function of the proposed mechanism. It showed sufficient weight compensation performance to enable self-reliance in ADL by reducing the effort required to move the arm.

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“…Exoskeletons transmit torques to the appropriate human joints using actuators [7]. For example, lower extremity exoskeletons have the potential to assist in load carrying by increasing load capacity and lessening the likelihood of leg or back injury.…”

Section: Motion Capture Systemsmentioning

confidence: 99%

“…For example, lower extremity exoskeletons have the potential to assist in load carrying by increasing load capacity and lessening the likelihood of leg or back injury. An upper extremity exoskeleton, Biomimetic Orthosis for the Neurorehabilitation of the Elbow and Shoulder (BONES) [7], generates rotation about the shoulder and elbow to assist with rehabilitation. These stiff mechanical systems can also directly measure joint angles rather than estimating points on the body.…”

Section: Motion Capture Systemsmentioning

confidence: 99%

Characterization of inertial measurement unit placement on the human body upon repeated donnings

Vanegas

Stirling

2015

2015 IEEE 12th International Conference on Wearable and Implantable Body Sensor Networks (BSN)

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Given projections of an increase in the number of consumers wearing sensors in the upcoming years coupled with NASA's technological roadmap for future human space exploration, there is a need to understand and appropriately incorporate the variability of humans during the use of sensors that extract human activity and diagnostics. Accurate estimations of variability in multiple donnings of sensor suites may aid algorithm development for wearable motion capture systems that make use of Inertial Measurement Units (IMUs). The accuracy of any algorithm incorporating these sensors is limited by the accuracy of the sensor to segment calibration. In this study, 22 participants self-placed IMUs on three locations and performed six prescribed motions during each of these five donnings. Placement of the IMU was quantified as distance, orientation, and rotation. For orientation of the sensors at the beginning of the prescribed motions, the bicep orientation mean was less than the forearm, which was less than the chest. No difference in sensor rotation was found between the bicep and forearm, but both locations differed from the chest location. It was found that even with a guide to assist with the starting and ending positions of a motion, the placement of the sensor on the human-body varied at the beginning and end of a motion. This study found no consistent effect of donning on placement, but did find an effect of motion on the measures. Since the placement measures did vary through a motion, the underlying assumptions of a rigid body model used by motion capture algorithms might not be appropriate. Motion capture algorithms need to be careful when using these rigid body assumptions and account for the changes in position and Euler angles due to natural human variability and calibration during multiple donnings of IMUs by non-experts. This study will aid in the development of quick don and doff sensor suites that can be reliably used by a non-expert for real-time decision making.

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Biomimetic orthosis for the neurorehabilitation of the elbow and shoulder (BONES)

Cited by 66 publications

References 37 publications

A novel linear PID controller for an upper limb exoskeleton

A novel linear PID controller for an upper limb exoskeleton

Development of passive upper limb weight-bearing orthosis to enhance voluntary shoulder rotation for activities of daily living

Characterization of inertial measurement unit placement on the human body upon repeated donnings

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