Cable driven exoskeleton for upper-limb rehabilitation: A design review

Sanjuan, Javier; Castillo, Andy; Padilla, Miguel A.; Quintero, M. Christian G.; Gutierrez, Efren; Sampayo, I.P.; Hernández, Javier Morales; Rahman, Mohammad Habibur

doi:10.1016/j.robot.2020.103445

Cited by 88 publications

(50 citation statements)

References 54 publications

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“…The second approach is active-assisted movement, where the robot requires a signal from the patient to perform the movement. This signal could be an electromyogram (EMG) and follows the patient's intention to move the limb [27]. Rehabilitation robots with active-assisted movement require voluntary effort from the patient and, consequently, provide significant motor improvement when they are compared to CPM rehabilitation [7].…”

Section: According To Robot Treatment Approachesmentioning

confidence: 99%

“…SUEFUL-7 is an upper limb exoskeleton that is used to help patients with weak motions [27]. SUEFUL-7 uses a unique controlling method named muscle-model-oriented that also depends on the fuzzy principal, where a high number of degrees of freedom require a high number of fuzzy mathematical models [71].…”

Section: Sueful-7 Exoskeleton Based On the Muscle-model-oriented Contmentioning

confidence: 99%

“…SUEFUL-7 uses a unique controlling method named muscle-model-oriented that also depends on the fuzzy principal, where a high number of degrees of freedom require a high number of fuzzy mathematical models [71]. SUEFUL-7 employs impedance control in combination with the muscle-model-oriented method, and the parameters of the impedance are modified in real time, according to the extracted EMG signal and limb posture [27]. The root mean square (RMS) is the feature that is extracted from the EMG signal to control the SUEFUL-7 [55].…”

Section: Sueful-7 Exoskeleton Based On the Muscle-model-oriented Contmentioning

confidence: 99%

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A Review on Upper Limb Rehabilitation Robots

2020

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Rehabilitation is the process of treating post-stroke consequences. Impaired limbs are considered the common outcomes of stroke, which require a professional therapist to rehabilitate the impaired limbs and restore fully or partially its function. Due to the shortage in the number of therapists and other considerations, researchers have been working on developing robots that have the ability to perform the rehabilitation process. During the last two decades, different robots were invented to help in rehabilitation procedures. This paper explains the types of rehabilitation treatments and robot classifications. In addition, a few examples of well-known rehabilitation robots will be explained in terms of their efficiency and controlling mechanisms.

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Section: According To Robot Treatment Approachesmentioning

confidence: 99%

Section: Sueful-7 Exoskeleton Based On the Muscle-model-oriented Contmentioning

confidence: 99%

Section: Sueful-7 Exoskeleton Based On the Muscle-model-oriented Contmentioning

confidence: 99%

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A Review on Upper Limb Rehabilitation Robots

2020

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“…Rehabilitation treatment, typically performed by caregivers and therapists, needs repeated and progressive functional training exercises to help impaired patients to recover motor abilities [1][2][3]. However, conventional therapist-led rehabilitation treatments require intensive labor, and typically are time-consuming [4]. With current robotic technique emerging, robots have been applied to diverse fields.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Motion Control of a Cable-Driven Robotic Exoskeleton With Pneumatic Artificial Muscle Actuators

et al. 2020

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This paper presents the design, dynamic modeling and motion control of a novel cable-driven upper limb robotic exoskeleton for a rehabilitation exercising. The proposed four degree-of-freedom robotic exoskeleton, actuated by pneumatic artificial muscle actuators, is characterized by a safe, compact, and lightweight structure, complying with the motion of an upper limb as close as possible. In order to perform a passive rehabilitation exercise, the dynamic models were developed by the Lagrange formulation in terms of quasi coordinates combined with the virtual work principle, and then the adaptive fuzzy sliding mode control was designed for the rehabilitation trajectory control. Finally, rehabilitation experiments were conducted to validate the prototype of upper limb robotic exoskeleton and the controller design. INDEX TERMS Pneumatic artificial muscle, robotic exoskeleton, rehabilitation, adaptive fuzzy sliding mode control.

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“…The various natural and unnatural causes (for example: stroke, hemiplegia, nervous system diseases, car accidents, etc.) have led to a rapid increase in the number of patients with movement disorders of the limbs, and the natural degradation of the basic motion functions of the elderly and other reasons [ 3 , 4 , 5 ] have caused the quality of life of a large number of people to decline, which severely reduces the desire of patients with movement disorders to pursue a happy life. Moreover, there is a problem with the shortage of medical rehabilitation resources around the world.…”

Section: Introductionmentioning

confidence: 99%

Safety Evaluation and Experimental Study of a New Bionic Muscle Cable-Driven Lower Limb Rehabilitation Robot

Wang

et al. 2020

Sensors

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Safety is a significant evaluation index of rehabilitation medical devices and a significant precondition for practical application. However, the safety evaluation of cable-driven rehabilitation robots has not been reported, so this work aims to study the safety evaluation methods and evaluation index of cable-driven rehabilitation robots. A bionic muscle cable (BM cable) is proposed to construct a bionic muscle cable-driven lower limb rehabilitation robot (BM-CDLR). The working principle of the BM-CDLR is introduced. The safety performance factors are defined based on the mechanical analysis of the BM-CDLR. The structural safety evaluation index and the use safety evaluation index of the BM-CDLR are given by comprehensively considering the safety performance factors and a proposed speed influence function. The effect of the structural parameters of the elastic elements in the BM cable on the safety performance factors and safety of the BM-CDLR is analyzed and verified by numerical simulations and experimental studies. The results provide the basis for further study of the compliance control strategy and experiments of the human-machine interaction of the BM-CDLR.

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Cable driven exoskeleton for upper-limb rehabilitation: A design review

Cited by 88 publications

References 54 publications

A Review on Upper Limb Rehabilitation Robots

A Review on Upper Limb Rehabilitation Robots

Dynamic Modeling and Motion Control of a Cable-Driven Robotic Exoskeleton With Pneumatic Artificial Muscle Actuators

Safety Evaluation and Experimental Study of a New Bionic Muscle Cable-Driven Lower Limb Rehabilitation Robot

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