Developments in hardware systems of active upper-limb exoskeleton robots: A review

Gopura, R. A. R. C.; Bandara, D. S. V.; Kiguchi, Kazuo; Mann, George K. I.

doi:10.1016/j.robot.2015.10.001

Cited by 399 publications

(237 citation statements)

References 124 publications

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“…Power-to-mass and power-to-volume ratios of the transmission system were increased by a factor of six, while keeping the overall power-to-volume ratio in a similar range. A large number of Bowden-cable-based RAS intended for the use with wearable robots have been presented and summarized in reviews such as [1], [18]. Most stateof-the-art systems for which the maximum output force is reported cannot provide forces higher than 50 N [11], [24], [29], [32].…”

Section: %)mentioning

confidence: 99%

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

Hofmann

Bützer

Lambercy

et al. 2018

IEEE Robot. Autom. Lett.

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Section: %)mentioning

confidence: 99%

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

Hofmann

Bützer

Lambercy

et al. 2018

IEEE Robot. Autom. Lett.

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“…jehyung.jung@tecnalia.com or exoskeleton) [8], [9], number of degrees of freedom, type of actuators [10], etc. However, a suitable and robust controller is also required to ensure that these robots interact properly with the user.…”

Section: Introductionmentioning

confidence: 99%

Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot

Mancisidor

Cabanes

Bengoa

et al. 2017

2017 International Conference on Rehabilitation Robotics (ICORR)

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Abstract-In order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present new force and motion estimators for the proper control of the upper-limb rehabilitation Universal Haptic Pantograph (UHP) robot. The estimators are based on the kinematic and dynamic model of the UHP and the use of signals measured by means of common low-cost sensors. In order to demonstrate the effectiveness of the estimators, several experimental tests were carried out. The force and impedance control of the UHP was implemented first by directly measuring the interaction force using accurate extra sensors and the robot performance was compared to the case where the proposed estimators replace the direct measured values. The experimental results reveal that the controller based on the estimators has similar performance to that using direct measurement (less than 1 N difference in root mean square error between two cases), indicating that the proposed force and motion estimators can facilitate implementation of interactive controller for the UHP in robotmediated rehabilitation trainings.

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“…Majority of exoskeleton structures are based on serial-wise construction while other machines have accepted united serial/parallel linkage arrangements. 32 Among the compared hardware systems, about 70% of the devices use electrically powered motor for actuation; 28 in the 30% remaining devices, 20% use pneumatic approaches, 7% use hydraulic actuation, and 3% use some combinations of the mentioned strategies.…”

Section: Application Of Robotmentioning

confidence: 99%

ERRSE: Elbow Robotic Rehabilitation System with an EMG-Based Force Control

Tiboni

Legnani

Lancini

et al. 2017

Mechanisms and Machine Science

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Physical rehabilitation based on robotic systems has the potential to cover the patient's need of improvement of upper extremity functionalities. In this article, the state of the art of resistant and assistive upper limb exoskeleton robots and their control are thoroughly investigated. Afterward, a single-degree-of-freedom exoskeleton matching the elbowforearm has been advanced to grant a valid rehabilitation therapy for persons with physical disability of upper limb motion. The authors have focused on the control system based on the use of electromyography signals as an input to drive the joint movement and manage the robotics arm. The correlation analysis between surface electromyography signal and the force exerted by the subject was studied in objects' grasping tests with the purpose of validating the methodology. The authors developed an innovative surface electromyography force-based active control that adjusts the force exerted by the device during rehabilitation. The control was validated by an experimental campaign on healthy subjects simulating disease on an arm, with positive results that confirm the proposed solution and that open the way to future researches.

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Developments in hardware systems of active upper-limb exoskeleton robots: A review

Cited by 399 publications

References 124 publications

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot

ERRSE: Elbow Robotic Rehabilitation System with an EMG-Based Force Control

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