Development of 2-DOF powered exoskeleton for upper limb rehabilitation

Park, Keunyoung; Park, HongSoo; Yoon, Sang Ho; Dan, Byung Ju; Chang, Woo Sok

doi:10.1109/urai.2013.6677336

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2022

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“…Hardware and software configurations are tailored to specific dysfunctions [13]. Some of these devices are affixed to the patient's limb or its fragment [28][29][30][31]. Others are mounted to wheelchairs or beds [32,33], depending on the specific condition.…”

Section: Introductionmentioning

confidence: 99%

The Middleware for an Exoskeleton Assisting Upper Limb Movement

Strzelczyk

Tomczewski

Wrobel

2022

Sensors

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This article presents the possibilities of newly developed middleware dedicated for distributed and modular control systems. The software enables the exchange of information locally, within one control module, and globally, between many modules. The executed information exchange system speed tests confirmed the correct operation of the software. The middleware was used in the control system of the active upper-limb exoskeleton. The upper-limb rehabilitation exoskeleton structure with six degrees of mechanical freedom is presented. The tests were performed using the prototype with three joints. The drives’ models of individual joints were developed and simulated. As a result, the courses of the motion trajectory were shown for different kinds of pressure on the force sensors, and different methods of signal filtering. The tests confirmed a correct operation of middleware and drives control system.

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