Ergonomic considerations for anthropomorphic wrist exoskeletons: A simulation study on the effects of joint misalignment

Esmaeili, Mohammad; Gamage, Kumudu; Tan, Esther; Campolo, Domenico

doi:10.1109/iros.2011.6095136

Cited by 24 publications

(7 citation statements)

References 17 publications

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“…The complexity of interaction between exoskeleton structure and human body is a major issue that requires attention. The incorrect alignment between exoskeleton and human upper limb makes patients uncomfortable when they are given therapy [115][116][117][118][119]. The intensity of uncomforting caused by tissue depression varies from annoying to pain depending there are a few which is being used for rehabilitation program and are commercially available.…”

Section: Joint Alignment With Human Anatomymentioning

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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Section: Joint Alignment With Human Anatomymentioning

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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“…These pads cause an increase of distance between the palm and the back side of the handle resulting in misalignment on the RUD. This misalignment would make the exo uncomfortable [2]. Conditions ii and iii were conducted underneath two scenarios:…”

Section: B Protocolmentioning

confidence: 99%

“…Human-machine interaction, a central topic in the field of robotic exoskeletons, necessitates consideration of ergonomy, and ergonomic constraints have recently become prevalent in the early stages of exoskeleton design methodologies [1], [2]. Exoskeletons are broadly divided into anthropomorphic and non-anthropomorphic types.…”

Section: Introductionmentioning

confidence: 99%

Ergonomic design of a wrist exoskeleton and its effects on natural motor strategies during redundant tasks

Esmaeili

Dailey

Burdet

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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This work investigates how to design a comfortable wrist exoskeleton which complies with the natural coordination mechanisms in the redundant wrist. Human sensorimotor control is known to impose intrinsic kinematic constraints to solve redundant motor tasks. To this end, the effect of an exoskeleton on natural motor strategies was assessed during pointing tasks performed with the wrist. The exoskeleton was designed based on the kinematic model of one specific subject. Then wrist orientation was observed during pointing tasks with the exoskeleton in the following conditions: i) optimal alignment between human and exoskeleton joints; ii) varying degrees of misalignment between human and exoskeleton joints; iii) optimal alignment while the PS axis was locked (i.e. no redundancy). The results exhibited a modification of the natural coordination mechanisms characterized by a subject-specific Koenderink shape index. Kruskal-Wallis pairwise analyses demonstrated a significant variation between test conditions indicating a change of intrinsic constraints with misalignment and locked PS. The assessment methodologies presented in this paper can be used to test for ergonomic constraints and can guide the design of robotic systems performing kinematically redundant tasks.

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“…4 However, recent studies have found that misalignment between the two joints happens in many cases [5][6][7] causing hyperstaticity and unwanted force around them. [8][9][10] This affects the safety of the operator, especially the one with gait disabilities. 11 One of the reasons why aligning them is difficult to attain is that the human joints are mostly not simple hinges and have both rotational and translational degree of freedom (DOF) at the same time.…”

Section: Introductionmentioning

confidence: 99%

Control of a nonanthropomorphic exoskeleton for multi-joint assistance by contact force generation

Lee

Kim

Park

2018

International Journal of Advanced Robotic Systems

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In this article, a novel controller for a nonanthropomorphic exoskeleton robot was designed to reduce joint torque of its operator using the contact force between them. Since the joints of the nonanthropomorphic exoskeletons are not directly connected to those of the operator due to the difference between their kinematic structure, joint assistance is performed by transmitting the contact force on their coupling parts instead of transmitting the joint torque of the nonanthropomorphic exoskeleton directly into the human joint. Most of the previous studies have focused on reducing the measured contact force by moving the coupling parts or commanding the robot joint torque. On the contrary, the proposed method focuses on reducing the human joint torque, which is estimated by formulating inverse dynamics, by obtaining possible contact force solutions. The commanding torque of the nonanthropomorphic exoskeleton was calculated by inverse dynamics based on the model information. To verify the control performance of the proposed method, we have developed a simulation environment for a lower-limb nonanthropomorphic exoskeleton. When the coupling part was implemented to be rigid for an ideal case, the joint torque of the human model to perform the same motion was successfully reduced by the given torque reduction ratio. For a more realistic condition, a nonrigid coupling was also implemented as a virtual spring-damper system, and its effect on the control performance was demonstrated in the simulation.

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Ergonomic considerations for anthropomorphic wrist exoskeletons: A simulation study on the effects of joint misalignment

Cited by 24 publications

References 17 publications

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

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

Ergonomic design of a wrist exoskeleton and its effects on natural motor strategies during redundant tasks

Control of a nonanthropomorphic exoskeleton for multi-joint assistance by contact force generation

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