Development of a new exoskeleton for upper limb rehabilitation

Vertechy, Rocco; Frisoli, Antonio; Dettori, Andrea; Solazzi, Massimiliano; Bergamasco, Massimo

doi:10.1109/icorr.2009.5209502

Cited by 47 publications

(37 citation statements)

References 7 publications

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“…When the bladder is pressurized, the actuator increases its diameter and shortens according to its volume, thus providing tension at its ends [150]. Due to such physical configuration, PAMs’ weight is generally light compared to other actuators, but also have slow and non-linear dynamic response (especially large PAMs), in consequence they are not practical for clinical rehabilitation scenarios [131,151]. In addition, at least two actuators are necessary in order to provide antagonistic movements due to the unidirectional contracting.…”

Section: The Surveymentioning

confidence: 99%

A survey on robotic devices for upper limb rehabilitation

Maciejasz

Eschweiler

Gerlach-Hahn

et al. 2014

J NeuroEngineering Rehabil

944

611

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The existing shortage of therapists and caregivers assisting physically disabled individuals at home is expected to increase and become serious problem in the near future. The patient population needing physical rehabilitation of the upper extremity is also constantly increasing. Robotic devices have the potential to address this problem as noted by the results of recent research studies. However, the availability of these devices in clinical settings is limited, leaving plenty of room for improvement. The purpose of this paper is to document a review of robotic devices for upper limb rehabilitation including those in developing phase in order to provide a comprehensive reference about existing solutions and facilitate the development of new and improved devices. In particular the following issues are discussed: application field, target group, type of assistance, mechanical design, control strategy and clinical evaluation. This paper also includes a comprehensive, tabulated comparison of technical solutions implemented in various systems.

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Section: The Surveymentioning

confidence: 99%

A survey on robotic devices for upper limb rehabilitation

Maciejasz

Eschweiler

Gerlach-Hahn

et al. 2014

J NeuroEngineering Rehabil

944

611

View full text Add to dashboard Cite

show abstract

“…As depicted in figure 3(a), the exoskeleton has a serial architecture isomorphic with the human kinematics that comprises: a shoulder joint fixed in space and composed by three active joints J1, J2 and J3; an active elbow joint J4; and a passive revolute joint J5 allowing for wrist prono/supination. For a more detailed description of both RehabExos and actuation groups, the reader can refer to [17].…”

Section: The Rehab-exosmentioning

confidence: 99%

“…As shown in figure 1, exoskeletons built for rehabilitation and human power augmentation make use of different actuation solutions, such as geared solutions [13,17,3], tendon drives [6,15], hybrid solutions (screw and cable actuators) [7],variable-impedance actuators or even pneumatic actuation [16,9]. Recently also pure tendon solutions have been proposed with the Carex Exoskeleton [11].…”

Section: Introductionmentioning

confidence: 99%

An interaction torque control improving human force estimation of the rehab-exos exoskeleton

Solazzi

Abbrescia

Vertechy

et al. 2014

2014 IEEE Haptics Symposium (HAPTICS)

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This paper describes the interaction torque control of the Rehab-Exos, an upper-limb robotic exoskeleton with direct torque joint sensors for interaction in Virtual Environments and rehabilitation. The control architecture consists in a centralized torque control and separated optimal torque observers for each joint of the exoskeleton. The optimal observer is a full-state Kalman filter providing the estimates of both internal and external torques acting on the joints and overcoming most of the issues due to the noise in the torque sensor signals. The centralized torque control is based on a full dynamics model of the exoskeleton, calculates the kinematics and dynamics of the system and estimates the feed-forward contribution for the compensation of dynamic loads measured by joint torque sensors. Experimental tests have been carried out to validate the desired torque tracking in haptic interaction tasks

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“…2) that is 4-DoFs admittance-like exoskeleton. 35,36 The chosen setup is asymmetrical since the two robotics are different from both the mechanic and kinematic point of view.…”

Section: Teleoperation Systemmentioning

confidence: 99%

Multi-DoFs Exoskeleton-Based Bilateral Teleoperation with the Time-Domain Passivity Approach

Buongiorno¹,

Chiaradia²,

Marcheschi³

et al. 2019

Robotica

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It is well known that the sense of presence in a tele-robot system for both home-based telerehabilitation and rescue operations is enhanced by haptic feedback. Beyond several advantages, in the presence of communication delay haptic feedback can lead to an unstable teleoperation system. During the last decades, several control techniques have been proposed to ensure a good trade-off between transparency and stability in bilateral teleoperation systems under time delays. These proposed control approaches have been extensively tested with teleoperation systems based on identical master and slave robots having few degrees of freedom (DoF). However, a small number of DoFs cannot ensure both an effective restoration of the multi-joint coordination in tele-rehabilitation and an adequate dexterity during manipulation tasks in rescue scenario. Thus, a deep understanding of the applicability of such control techniques on a real bilateral teleoperation setup is needed. In this work, we investigated the behavior of the time-domain passivity approach (TDPA) applied on an asymmetrical teleoperator system composed by a 5-DoFs impedance designed upper-limb exoskeleton and a 4-DoFs admittance designed anthropomorphic robot. The conceived teleoperation architecture is based on a velocity-force (measured) architecture with position drift compensation and has been tested with a representative set of tasks under communication delay (80 ms round-trip). The results have shown that the TDPA is suitable for a multi-DoFs asymmetrical setup composed by two isomorphic haptic interfaces characterized by different mechanical features. The stability of the teleoperator has been proved during several (1) high-force contacts against stiff wall that involve more Cartesian axes simultaneously, (2) continuous contacts with a stiff edge tests, (3) heavy-load handling tests while following a predefined path and (4) high-force contacts against stiff wall while handling a load. The found results demonstrated that the TDPA could be used in several teleoperation scenarios like home-based tele-rehabilitation and rescue operations.• high dynamic performance brushless motors, selected for further reduction of the inertia experienced by the patient; • more robust and reliable routing of the mechanical cable transmission; https://www.cambridge.org/core/terms. https://doi.

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Development of a new exoskeleton for upper limb rehabilitation

Cited by 47 publications

References 7 publications

A survey on robotic devices for upper limb rehabilitation

A survey on robotic devices for upper limb rehabilitation

An interaction torque control improving human force estimation of the rehab-exos exoskeleton

Multi-DoFs Exoskeleton-Based Bilateral Teleoperation with the Time-Domain Passivity Approach

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