CLEVERarm: A Lightweight and Compact Exoskeleton for Upper-Limb Rehabilitation

Zeiaee, Amin; Zarrin, Rana Soltani; Eib, Andrew; Langari, Reza; Tafreshi, Reza

doi:10.1109/lra.2021.3138326

Cited by 31 publications

(10 citation statements)

References 34 publications

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“…However, it is important to remember that this is a prototype. In the future, the device's weight be reduced by reshaping the exoskeleton components to optimize their stiffness-to-weight ratio and adopting lightweight, high-strength materials like carbon fiber whose usage in similar wearable systems has been already proven in several studies [26][27][28].…”

Section: Simulation Resultsmentioning

confidence: 99%

Preliminary Testing of a Passive Exoskeleton Prototype Based on McKibben Muscles

Paterna,

De Benedictis,

Ferraresi

2024

Machines

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Upper-limb exoskeletons for industrial applications can enhance the comfort and productivity of workers by reducing muscle activity and intra-articular forces during overhead work. Current devices typically employ a spring-based mechanism to balance the gravitational torque acting on the shoulder. As an alternative, this paper presents the design of a passive upper-limb exoskeleton based on McKibben artificial muscles. The interaction forces between the exoskeleton and the user, as well as the mechanical resistance of the exoskeleton structure, were investigated to finalize the design of the device prior to its prototyping. Details are provided about the solutions adopted to assemble, wear, and regulate the exoskeleton’s structure. The first version of the device weighing about 5.5 kg was manufactured and tested by two users in a motion analysis laboratory. The results of this study highlight that the exoskeleton can effectively reduce the activation level of shoulder muscles without affecting the lumbar strain.

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Section: Simulation Resultsmentioning

confidence: 99%

Preliminary Testing of a Passive Exoskeleton Prototype Based on McKibben Muscles

Paterna,

De Benedictis,

Ferraresi

2024

Machines

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“…Both EE type robotic devices and exoskeletons have been used in randomized controlled trials (RCT) for subacute and chronic stroke rehabilitation. Examples of commercialized rehabilitation exoskeletons include the Armeo Spring, Armeo Power, and Myomo and those of research ones include Harmony [108], NESM [107], HEXO [162], NTUH-II [163], Aalborg University Exoskeleton [106], ALEx [164], EXO-UL8 [165], FELXO-Arm1 [166], CleverARM [167], etc, with typical ones shown in figure 2. In addition, concomitant therapies have also been adopted to enhance rehabilitation including virtual reality [168] and conventional stroke therapies.…”

Section: Stroke Rehabilitationmentioning

confidence: 99%

Wearable upper limb robotics for pervasive health: a review

2023

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Wearable robotics, also called exoskeletons, have been engineered for human-centered assistance for decades. They provide assistive technologies for maintaining and improving patients’ natural capabilities towards self-independence and also enable new therapy solutions for rehabilitation towards pervasive health. Upper limb exoskeletons can significantly enhance human manipulation with environments, which is crucial to patients’ independence, self-esteem, and quality of life. For long-term use in both in-hospital and at-home settings, there are still needs for new technologies with high comfort, biocompatibility, and operability. The recent progress in soft robotics has initiated soft exoskeletons (also called exosuits), which are based on controllable and compliant materials and structures. Remarkable literature reviews have been performed for rigid exoskeletons ranging from robot design to different practical applications. Due to the emerging state, few have been focused on soft upper limb exoskeletons. This paper aims to provide a systematic review of the recent progress in wearable upper limb robotics including both rigid and soft exoskeletons with a focus on their designs and applications in various pervasive healthcare settings. The technical needs for wearable robots are carefully reviewed and the assistance and rehabilitation that can be enhanced by wearable robotics are particularly discussed. The knowledge from rigid wearable robots may provide practical experience and inspire new ideas for soft exoskeleton designs. We also discuss the challenges and opportunities of wearable assistive robotics for pervasive health.

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“…However, the simplification of the upper limb to six degrees of freedom (DOFs) and below is inconsistent with the physiological properties of the upper limb. Meanwhile, a sizable research has been conducted for modeling upper-limb motion, including dissecting shoulder motion during the design of the upper-limb exoskeleton (ARMin series 39 – 41 , HARMONY 42 , CLEVERarm 43 , WINDER 44 , ChARMin 45 , etc.) and developing Denavit-Hartenberg based models of upper limb forward and reverse kinematics and dynamics 46 , 47 , hybrid twist-based model of shoulder kinematics 48 , rigid body model describing the kinematics of the scapula relative to the sternum 49 , and a musculoskeletal model of the upper limb 50 – 52 , etc.…”

Section: Introductionmentioning

confidence: 99%

Upper limb modeling and motion extraction based on multi-space-fusion

Wang,

Guo,

Pei

et al. 2023

Sci Rep

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Modeling and motion extraction of human upper limbs are essential for interpreting the natural behavior of upper limb. Owing to the high degrees of freedom (DOF) and highly dynamic nature, existing upper limb modeling methods have limited applications. This study proposes a generic modeling and motion extraction method, named Primitive-Based triangular body segment method (P-BTBS), which follows the physiology of upper limbs, allows high accuracy of motion angles, and describes upper-limb motions with high accuracy. For utilizing the upper-limb modular motion model, the motion angles and bones can be selected as per the research topics (The generic nature of the study targets). Additionally, P-BTBS is suitable in most scenarios for estimating spatial coordinates (The generic nature of equipment and technology). Experiments in continuous motions with seven DOFs and upper-limb motion description validated the excellent performance and robustness of P-BTBS in extracting motion information and describing upper-limb motions, respectively. P-BTBS provides a new perspective and mathematical tool for human understanding and exploration of upper-limb motions, which theoretically supports upper-limb research.

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CLEVERarm: A Lightweight and Compact Exoskeleton for Upper-Limb Rehabilitation

Cited by 31 publications

References 34 publications

Preliminary Testing of a Passive Exoskeleton Prototype Based on McKibben Muscles

Preliminary Testing of a Passive Exoskeleton Prototype Based on McKibben Muscles

Wearable upper limb robotics for pervasive health: a review

Upper limb modeling and motion extraction based on multi-space-fusion

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