Design and control of an ergonomic robotic shoulder for wearable exoskeleton robot for rehabilitation

Islam, Rasedul; Assad-Uz-Zaman, Md.; Rahman, Mohammad Habibur

doi:10.1007/s40435-019-00548-3

Cited by 28 publications

(8 citation statements)

References 26 publications

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“…Two parallel mechanisms, namely, the frontal and sagittal mechanisms, as shown in Figure 3 and Figure 4 , were used in the design of the ergonomic shoulder module. These mechanisms were described in detail in the author’s previous research [ 53 , 54 , 55 , 56 ]. When combined, these mechanisms allow for the mobility of the shoulder joint’s instantaneous center of rotation by providing movement in the frontal and sagittal planes, respectively.…”

Section: Development Of U-robmentioning

confidence: 99%

Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality

et al. 2021

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The design of an upper limb rehabilitation robot for post-stroke patients is considered a benchmark problem regarding improving functionality and ensuring better human–robot interaction (HRI). Existing upper limb robots perform either joint-based exercises (exoskeleton-type functionality) or end-point exercises (end-effector-type functionality). Patients may need both kinds of exercises, depending on the type, level, and degree of impairments. This work focused on designing and developing a seven-degrees-of-freedom (DoFs) upper-limb rehabilitation exoskeleton called ‘u-Rob’ that functions as both exoskeleton and end-effector types device. Furthermore, HRI can be improved by monitoring the interaction forces between the robot and the wearer. Existing upper limb robots lack the ability to monitor interaction forces during passive rehabilitation exercises; measuring upper arm forces is also absent in the existing devices. This research work aimed to develop an innovative sensorized upper arm cuff to measure the wearer’s interaction forces in the upper arm. A PID control technique was implemented for both joint-based and end-point exercises. The experimental results validated both types of functionality of the developed robot.

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Section: Development Of U-robmentioning

confidence: 99%

Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality

et al. 2021

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“…In our previous research, a conceptual design of an ergonomic robotic shoulder for wearable upper limb exoskeleton was proposed. 51 The mechanisms used in that research were designed with an intention to be used in any exoskeleton. The ESMSP of u-Rob has adopted the design of that robotic shoulder with necessary adjustments and modifications.…”

Section: U-rob Shoulder Joint Mechanismmentioning

confidence: 99%

A Novel Exoskeleton with Fractional Sliding Mode Control for Upper Limb Rehabilitation

Islam¹,

Rahmani²,

Rahman³

2020

Robotica

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SUMMARY The robotic intervention has great potential in the rehabilitation of post-stroke patients to regain their lost mobility. In this paper, firstly, we present a design of a novel, 7 degree-of-freedom (DOF) upper limb robotic exoskeleton (u-Rob) that features shoulder scapulohumeral rhythm with a wide range of motions (ROM) compared to other existing exoskeletons. An ergonomic shoulder mechanism with two passive DOF was included in the proposed exoskeleton to provide scapulohumeral motion with corresponding full ROM. Also, the joints of u-Rob have more range of motions compared to its existing counterparts. Secondly, we propose a fractional sliding mode control (FSMC) to control u-Rob. Applying the Lyapunov theory to the proposed control algorithm, we showed the stability of it. To control u-Rob, FSMC has shown effectiveness to handle unmodeled dynamics (e.g. friction, disturbance, etc.) in terms of better tracking and chatter compared to traditional SMC.

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“…Even though the robot workspace is larger, this constraint significantly decreases the rehabilitation workspace. Many research groups have developed exoskeleton-type robots that can control each joint individually to address this barrier [ 6 , 8 , 9 , 10 , 17 , 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 , 28 ]. Although several control algorithms/methods are developed to meet rehabilitation robot control requirements, the performance of human–robot interaction is still very insufficient.…”

Section: Introductionmentioning

confidence: 99%

Robustness and Tracking Performance Evaluation of PID Motion Control of 7 DoF Anthropomorphic Exoskeleton Robot Assisted Upper Limb Rehabilitation

Ahmed

Islam

Brahmi

et al. 2022

Sensors

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Upper limb dysfunctions (ULD) are common following a stroke. Annually, more than 15 million people suffer a stroke worldwide. We have developed a 7 degrees of freedom (DoF) exoskeleton robot named the smart robotic exoskeleton (SREx) to provide upper limb rehabilitation therapy. The robot is designed for adults and has an extended range of motion compared to our previously designed ETS-MARSE robot. While providing rehabilitation therapy, the exoskeleton robot is always subject to random disturbance. Moreover, these types of robots manage various patients and different degrees of impairment, which are quite impossible to model and incorporate into the robot dynamics. We hypothesize that a model-independent controller, such as a PID controller, is most suitable for maneuvering a therapeutic exoskeleton robot to provide rehabilitation therapy. This research implemented a model-free proportional–integral–derivative (PID) controller to maneuver a complex 7 DoF anthropomorphic exoskeleton robot (i.e., SREx) to provide a wide variety of upper limb exercises to the different subjects. The robustness and trajectory tracking performance of the PID controller was evaluated with experiments. The results show that a PID controller can effectively control a highly nonlinear and complex exoskeleton-type robot.

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Design and control of an ergonomic robotic shoulder for wearable exoskeleton robot for rehabilitation

Cited by 28 publications

References 26 publications

Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality

Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality

A Novel Exoskeleton with Fractional Sliding Mode Control for Upper Limb Rehabilitation

Robustness and Tracking Performance Evaluation of PID Motion Control of 7 DoF Anthropomorphic Exoskeleton Robot Assisted Upper Limb Rehabilitation

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