Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton

Brackbill, Elizabeth A.; Mao, Yong; Agrawal, Sunil K.; Annapragada, M.; Dubey, Venkatesh N.

doi:10.1109/robot.2009.5152545

Cited by 63 publications

(37 citation statements)

References 17 publications

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“…This means that precautions must be taken during device design to ensure adaptability to anatomical variations in patients and to prevent patient injury. For example, Agrawal et al created a rigid system of six shoulder-mounted motors and cables to actuate the arm in multiple DOF [9], [10], [11]. While this system's kinematics were optimized to achieve a useful range of motion, precise adjustments of the rigid parts are required to avoid misalignments that may occur when putting on and taking off the system or during the exercise.…”

Section: Introductionmentioning

confidence: 99%

Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments

Galiana

Hammond²,

Howe

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

108

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Abstract-Stroke is the leading cause of long-term disability in the United States, affecting over 795,000 people annually. In order to regain motor function of the upper body, patients are usually treated by regular sessions with a dedicated physical therapist. A cost-effective wearable upper body orthotics system that can be used at home to empower both the patients and physical therapists is described. The system is composed of a thin, compliant, lightweight, cost-effective soft orthotic device with an integrated cable actuation system that is worn over the upper body, an embedded limb position sensing system, an electric actuator package and controller. The proposed device is robust to misalignments that may occur during actuation of the compliant brace or when putting on the system. Through simulations and experimental evaluation, it was demonstrated i) that the soft orthotic cable-driven shoulder brace can be successfully actuated without the production of off-axis torques in the presence of misalignments and ii) that the proposed model can identify linear and angular misalignments online.

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Section: Introductionmentioning

confidence: 99%

Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments

Galiana

Hammond²,

Howe

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

108

View full text Add to dashboard Cite

show abstract

“…In rehabilitation, robotic devices have been deployed to assist patients after stroke to move their impaired limb through a pre-defined trajectory. This movement uses both a linear and nonlinear approach [41,68,91] used a PD controller which has limitations of having some steady date error in trajectory tracking. On the other hand [58,60,73,74,106,107,126] used a different approach (PID) in which an integral term was added in the controller to compensates for steady state error during the robot-aided therapy.…”

Section: Control Issuesmentioning

confidence: 99%

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

et al. 2017

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The number of disabled individuals due to stroke is increasing day by day and is projected to continue increasing at an alarming rate in United States. But the current amount of health professionals in physical therapy is inadequate to provide rehabilitation to these large groups. From early 1990s, researchers have been trying to develop an easy and feasible solution to this problem and lot of assistive devices both end effector type or exoskeleton type have been developed till to date. However, only a few of them have been commercialized and are being used in rehabilitation of post-stroke patients. Making the use of exoskeletons and other devices to regain lost motor function is rare. Providing therapy to this large group is quite impossible without commercializing of exoskeleton. This has motivated the authors to make a literature review and figure the reasons out that need to be solved to bridge the gap between research prototype to commercial version. This paper covers the necessity of incorporating robotic devices in rehabilitation, a brief description of existing devices particularly upper limb exoskeletons, their hardware limitations, and control issues. Our review shows that there are significant flaws in hardware design and developing control algorithm of exoskeletons to be available in rehabilitation program.

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“…Then, Agrawal designed cable-driven exoskeletal rehabilitation robots with four DOFs and five DOFs, respectively (as shown in Figure 13), and carried out the optimum design research works [79].…”

Section: The Fast Projectmentioning

confidence: 99%

An Overview of the Development for Cable-Driven Parallel Manipulator

Tang

2014

Advances in Mechanical Engineering

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In the last two decades, cable-driven parallel robots have attracted a lot of attention in robot community as a hot topic of robot research. In this paper, the development of the cable-driven parallel manipulator is first introduced in general. Second, the latest advance in theory and applications of cable-driven parallel manipulator is presented in detail, especially some notable implementations. Finally, an other probable application foresight with this cable manipulator is proposed and discussed.

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Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton

Cited by 63 publications

References 17 publications

Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments

Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

An Overview of the Development for Cable-Driven Parallel Manipulator

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