Design and preliminary experimentation of a continuum exoskeleton for self-provided bilateral rehabilitation

Xu, Kai; You, Wang; Yang, Zhixiong

doi:10.1109/icinfa.2014.6932676

Cited by 5 publications

(3 citation statements)

References 34 publications

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“…Many of the existing devices are designed to be wearable, though all of these have been designed for use in the hospital. The existing wearable exoskeletons are actuated through DC motors directly at the joints, such as BRAVO [11], a 2-DOF system for the hand, and BWRD [12], a 1-DOF elbow exoskeleton; or through soft pneumatics, such as the fabric based glove for the hand [8], the master-slave elbow device [13], and the continuum exoskeleton for the shoulder [14]. Soft pneumatics are generally lightweight and therefore can be incorporated into a wearable design very easily.…”

Section: Bilateral Exoskeletonsmentioning

confidence: 99%

Design of a Wearable Bilateral Exoskeleton for Arm Stroke Treatment in a Home Environment

Gilson

Xie

O’Connor

2021

2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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With the number of stroke patients increasing every year, it is important that new ways of approaching rehabilitation are explored. This paper introduces a novel design for a bilateral exoskeleton that aims to allow patients more flexibility in how and where they are able to carry out their rehabilitation. The Bilateral Exoskeleton for Arm Stroke Treatment (BEAST), has been designed for patients to use independently in their own home. The focus of BEAST is to allow therapists to oversee the remote rehabilitation of more patients, effectively reducing waiting times and enabling patients more independence in their recovery process. This paper discusses the design of BEAST, including the kinematics, workspace and torque calculations. It also briefly touches on how the needs of patients can be included in the design and optimisation stages of BEAST.

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Section: Bilateral Exoskeletonsmentioning

confidence: 99%

Design of a Wearable Bilateral Exoskeleton for Arm Stroke Treatment in a Home Environment

Gilson

Xie

O’Connor

2021

2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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“…However, this soft orthosis has a very limited mobility with just 1-DOF for shoulder abduction-adduction movement. Some other robotic shoulder rehabilitation orthoses with series elastic actuation or elastic elements found in the literature are intrinsically compliant continuum shoulder exoskeleton [86], wearable shoulder exoskeleton [87] and MUNDUS [88].…”

Section: Robotic Shoulder Orthoses Powered By Hydraulic Actuators/mentioning

confidence: 99%

Review on Design and Control Aspects of Robotic Shoulder Rehabilitation Orthoses

Niyetkaliyev

Hussain

Ghayesh

et al. 2017

IEEE Trans. Human-Mach. Syst.

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Robotic rehabilitation devices are more frequently used for the physical therapy of people with upper limb weakness, which is the most common type of stroke-induced disability. Rehabilitation robots can provide customized, prolonged, intensive, and repetitive training sessions for patients with neurological impairments. In most cases, the robotic exoskeletons have to be aligned with the human joints and provide natural arm movements. This is a challenging task to achieve for one of the most biomechanically complex joints of human body, i.e., the shoulder. Therefore, specific considerations have been made in the development of various existing robotic shoulder rehabilitation orthoses. Different types of actuation, degrees of freedom (DOFs), and control strategies have been utilized for the development of these shoulder rehabilitation orthoses. This paper presents a comprehensive review of these shoulder rehabilitation orthoses. Recent advancements in the mechanism design, their advantages and disadvantages, overview of hardware, actuation system, and power transmission are discussed in detail with the emphasis on the assisted DOFs for shoulder motion. A brief overview of control techniques and clinical studies conducted with the developed robotic shoulder orthoses is also presented. Finally, current challenges and directions of future development for robotic shoulder rehabilitation orthoses are provided at the end of this paper.

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“…Initially, open-ended cables were used in actuation of robotic devices, but they were limited to providing only tension force and no compression force, so that an extra device was needed to hold the cables in tension, complicating the design and the control of the transmission system. To overcome this problem, a new generation of cables was developed: endless tendon drives (Tsai, 1994 ), Bowden cables (Veneman et al, 2005 ; Sulzer et al, 2009 ), and push-pull cables (PPC) (Winter and Bouzit, 2007 ; Grosu et al, 2014 ; Slavnić et al, 2014 ; Xu et al, 2014 ; Guerrero et al, 2015 ).…”

Section: Introductionmentioning

confidence: 99%

Evaluation and Analysis of Push-Pull Cable Actuation System Used for Powered Orthoses

et al. 2018

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Cable-based actuation systems are preferred in rehabilitation robotics due to their adequate force transmission and the possibility of safely locating the motors away from the patient. In such applications, the cable dynamics represents the prescribing component for the system operating loads and control. A good understanding of the actuation, based on cable-conduit transmission, is therefore becoming mandatory. There are several types of cable-conduit configurations used for the actuation. Currently, there is lack of information in literature with regard to the push-pull cable type. Therefore, the main focus of this contribution is to evaluate push-pull cable-based actuation used within wearable robotic devices. This study includes working principle description of push-pull cable actuation with its characteristic advantages and drawbacks. The use of push-pull cables in bidirectional force transfer with remote actuation is investigated being integrated in a test-stand setup of a novel gait rehabilitation device. The experimental results and close analysis of the push-pull cable-based actuation system outline its performance, the overall dynamic behavior and the transmission efficiency of push-pull cables used for powered orthoses.

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Design and preliminary experimentation of a continuum exoskeleton for self-provided bilateral rehabilitation

Cited by 5 publications

References 34 publications

Design of a Wearable Bilateral Exoskeleton for Arm Stroke Treatment in a Home Environment

Design of a Wearable Bilateral Exoskeleton for Arm Stroke Treatment in a Home Environment

Review on Design and Control Aspects of Robotic Shoulder Rehabilitation Orthoses

Evaluation and Analysis of Push-Pull Cable Actuation System Used for Powered Orthoses

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