Development of an upper limb exoskeleton powered via pneumatic electric hybrid actuators with bowden cable

Noda, Tomoyuki; Teramae, Tatsuya; Uğurlu, Barkan; Morimoto, Jun

doi:10.1109/iros.2014.6943062

Cited by 65 publications

(37 citation statements)

References 23 publications

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“…Another example is the rehabilitation suite for upper limb developed by Hocoma [38]. Overall, there is a variety of actuation mechanisms for upper limb exoskeletons, such as electric engines [39,40], springs [41], electro-pneumatic actuators [42], hydraulic actuators (4-DOF) [43], or shape memory alloy (SMA) fibers [44,45].…”

Section: Prostheses Orthosesmentioning

confidence: 99%

Robotics in Health Care: Perspectives of Robot-Aided Interventions in Clinical Practice for Rehabilitation of Upper Limbs

et al. 2019

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Robot-aided systems to support the physical rehabilitation of individuals with neurological impairment is one of the fields that has been widely developed in the last few decades. However, the adoption of these systems in clinical practice remains limited. In order to better understanding the causes of this limitation, a systematic review of robot-based systems focused on upper extremity rehabilitation is presented in this paper. A systematic search and review of related articles in the literature were conducted. The chosen works were analyzed according to the type of device, the data analysis capability, the therapy method, the human–robot interaction, the safety strategies, and the focus of treatment. As a conclusion, self-adaptation for personalizing the treatments, safeguarding and enhancing of patient–robot interaction towards training essential factors of movement generation into the same paradigm, or the use of lifelike environments in fully-immersive virtual reality for increasing the assimilation of motor gains could be relevant factors to develop more accepted robot-aided systems in clinical practice.

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Section: Prostheses Orthosesmentioning

confidence: 99%

Robotics in Health Care: Perspectives of Robot-Aided Interventions in Clinical Practice for Rehabilitation of Upper Limbs

et al. 2019

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“…In other words the ReAct shifts the energy curve of the MCT with respect to the flexion angle of the actuated joint. Being the ReAct in series with the transmission the application differs from the macro-mini approach [6].…”

Section: Reconfiguring the Mctmentioning

confidence: 99%

A series elastic composite actuator for soft arm exosuits

Cappello

Pirrera

Masia

2015

2015 IEEE International Conference on Rehabilitation Robotics (ICORR)

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Abstract-The paper introduces a novel type of actuator for soft wearable exoskeletons providing assistance to the elbow joint motion. The mechanism consists of two DC motors, a multistable composite transmission which introduces series elastic properties, a high-efficiency non-backdrivable mechanism and a pair of Bowden cables to transmit the motion from the actuator to the joint. A test bench has been designed to experimentally characterize the performance of the proposed device. The control architecture is then introduced and described. The results of preliminary tests are shown and discussed. In conclusion, future developments and a embodiment of the envisioned application are introduced.

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“…Bowden cable is commonly used as a transmission force in an elbow and hand exoskeleton [18][19][20][21][22]. Some researchers have conducted a study in combining pneumatic with Bowden cable [23,24] for the exoskeleton actuator system.…”

Section: Introductionmentioning

confidence: 99%

Soft Elbow Exoskeleton for Upper Limb Assistance Incorporating Dual Motor-Tendon Actuator

et al. 2019

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Loss of muscle functions, such as the elbow, can affect the quality of life of a person. This research is aimed at developing an affordable two DOF soft elbow exoskeleton incorporating a dual motor-tendon actuator. The soft elbow exoskeleton can be used to assist two DOF motions of the upper limb, especially elbow and wrist movements. The exoskeleton is developed using fabric for the convenience purpose of the user. The dual motor-tendon actuator subsystem employs two DC motors coupled with lead-to-screw converting motion from angular into linear motion. The output is connected to the upper arm hook on the soft exoskeleton elbow. With this mechanism, the proposed actuator system is able to assist two DOF movements for flexion/extension and pronation/supination motion. Proportional-Integral (PI) control is implemented for controlling the motion. The optimized value of Kp and Ki are 200 and 20, respectively. Based on the test results, there is a slight steady-state error between the first and the second DC motor. When the exoskeleton is worn by a user, it gives more steady-state errors because of the load from the arm weight. The test results demonstrate that the proposed soft exoskeleton elbow can be worn easily and comfortably by a user to assist two DOF for elbow and wrist motion. The resulted range of motion (ROM) for elbow flexion–extension can be varied from 90° to 157°, whereas the maximum of ROM that can be achieved for pronation and supination movements are 19° and 18°, respectively.

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Development of an upper limb exoskeleton powered via pneumatic electric hybrid actuators with bowden cable

Cited by 65 publications

References 23 publications

Robotics in Health Care: Perspectives of Robot-Aided Interventions in Clinical Practice for Rehabilitation of Upper Limbs

Robotics in Health Care: Perspectives of Robot-Aided Interventions in Clinical Practice for Rehabilitation of Upper Limbs

A series elastic composite actuator for soft arm exosuits

Soft Elbow Exoskeleton for Upper Limb Assistance Incorporating Dual Motor-Tendon Actuator

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