Design and Performance of an Elbow Assisting Mechanism

Zuccon, Giacomo; Bottin, Matteo; Ceccarelli, Marco; Rosati, Giulio

doi:10.3390/machines8040068

Cited by 28 publications

(13 citation statements)

References 33 publications

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“…While advanced medical and surgical techniques, such as stem cell therapy, nerve transfer surgery, etc., have been used to restore the upper limb functionality, in some severe cases, it is hard to achieve desired results. Emerging technologies, such as assistive robots, can provide an alternative way to facilitate individuals with physical impairments in activities of daily living (ADL) [1,2] or therapeutic exercises [3,4].…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, flexible and parallel mechanisms have also been investigated to reduce inertial problem, but their size and complexity remain issues to be further addressed. Apart from the shoulder exoskeletons, exoskeletons that can support human forearm [4,[14][15][16][17] and wrist movements [18][19][20] were developed. Among the existing mechanisms, a direct drive method and a C-ring mechanism are commonly used to support human forearm extension/flexion movements and wrist rotation, as reported in [2,5,20,21].…”

Section: Introductionmentioning

confidence: 99%

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A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

et al. 2021

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Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

et al. 2021

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“…In this paper, the evolution of the CADEL device, a cable-driven elbow rehabilitation device whose preliminary work is introduced in [ 25 , 26 , 27 , 28 ], is reported with a focus on a novel low-cost prototype design and its experimental characterization. The paper is organized as follows: Section 2 presents the requirements that have been considered in developing the improvement to the original design of CADEL and its different versions in order to build a prototype for practical implementation.…”

Section: Introductionmentioning

confidence: 99%

Design and Experimental Characterization of L-CADEL v2, an Assistive Device for Elbow Motion

Ceccarelli

Riabtsev

Fort

et al. 2021

Sensors

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An experimental characterization is presented for an improved version of a wearable assistive device for elbow motion. The design is revised with respect to requirements for elbow motion assistance, looking at applications both in rehabilitation therapies and exercising of elderly people. A laboratory prototype is built with lightweight, portable, easy-to-use features that are verified with test results, whose discussion is also provided as a characterization of operating performance.

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“…Within the context of autonomous control vehicles, the authors of [5] proposed an Iterative Learning Control combined with linear extended state observer to improve the control accuracy of Automated Guided Vehicle (AGV) drive motor. In regard to medical devices for motion assistance, the authors of [6] design an elbow-assisting device based on a cable-driven parallel mechanism with design solutions. Then, experimental results are provided, and some concluding remarks are addressed as well.…”

mentioning

confidence: 99%