KULEX: ADL power assistant robotic system for the elderly and the disabled (Abstract for video)

Hong, Manbok; Kim, Sin Jung; Kim, Kee Hoon

doi:10.1109/urai.2013.6677487

Cited by 6 publications

(7 citation statements)

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“…Significant advancements have been reported for upper limb rehabilitation using exoskeletons, with some being integrated into clinical practice and commercialised [42], [43]. However, these rehabilitation systems often require continuous monitoring and assistance from therapists and are typically bulky, heavy, and impractical for daily tasks at home [44], [45]. To the best of the authors' knowledge, only two review articles have explicitly addressed exoskeletons for elderly activities of daily living assistance, focusing on upper limb [24] and lower limb exoskeletons [25].…”

Section: Exoskeletonmentioning

confidence: 99%

“…The review included a total of 18 different upper limb exoskeletons; one full-body exoskeleton [48]- [50], two shoulder-elbow-hand exoskeletons [51], [52], two shoulder-elbow-wrist exoskeletons [53], [54], three shoulderelbow exoskeletons [55]- [60], four shoulder exoskeletons [61]- [64] and six hand exoskeletons [44], [65]- [70].…”

Section: Exoskeleton Typesmentioning

confidence: 99%

“…There are six hand exoskeletons: Force Augmenting Exoskeleton [69], Cable-driven Hand Exoskeleton (known as mano) [65], Hand Extension Robot Orthosis Grip Glove (HERO) [66], Kist Upper-Limb Exoskeleton (KULEX) [44], [67], EXOMUSCLE [68], and Soft Power-Assist Glove [70].…”

Section: Hand Exoskeletonmentioning

confidence: 99%

“…KULEX includes forearm support, wrist support, and a grasping module to assist the elderly and disabled with pinching, grasping, and holding during ADLs, such as pinching a pen and holding a water bottle. The preliminary conceptual design of KULEX was previously reported in [44], [71]. EXOMUSCLE is a passive exoskeleton that assists the elderly in gripping and grasping the wok while cooking [68].…”

Section: Hand Exoskeletonmentioning

confidence: 99%

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Exoskeletons for Elderly Activity of Daily Living Assistance: A Review of Upper Limb Exoskeletons and Assessments

Abdul Jalal,

Haizi Harith,

Wan Hasan

et al. 2024

IJIE

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Population ageing is a major global issue. The elderly population aged 65 and above made up approximately 9% of the world's population in 2019, with projections indicating this will rise to 16%, or 1.5 billion individuals, by 2050. The elderly experience a natural decline in strength, endurance, agility, and flexibility. Exoskeletons have the potential to assist the elderly in daily tasks, improve mobility and balance, and provide additional strength, endurance, and capability to maintain accurate limb movement. Their application leads to a more independent and autonomous life, fostering healthy ageing and ageing in place. However, their development requires thorough considerations of functionality and user experience criteria, such as addressing the alignment with human joints, social acceptance, and motivation for exoskeleton usage. This review presents an overview of upper-limb exoskeletons designed to assist the elderly in activities of daily living, focusing on exoskeleton types and assessments. Eighteen upper limb exoskeletons were identified from the literature and categorised based on supported body segment and structure. Most of the exoskeletons are either in the embodiment design or prototyping stages and their evaluations were predominantly performed in the laboratory or simulated environment. Elderly participation in exoskeleton assessment is currently limited. There is a lack of standardized exoskeleton assessments essential for certifications, commercialization, and universal benchmarks in diverse studies. These standards would ensure consistent, repeatable, reliable, validated, and comparable findings

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Section: Exoskeletonmentioning

confidence: 99%

Section: Exoskeleton Typesmentioning

confidence: 99%

Section: Hand Exoskeletonmentioning

confidence: 99%

Section: Hand Exoskeletonmentioning

confidence: 99%

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Exoskeletons for Elderly Activity of Daily Living Assistance: A Review of Upper Limb Exoskeletons and Assessments

Abdul Jalal,

Haizi Harith,

Wan Hasan

et al. 2024

IJIE

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“…Upper-Limb exoskeleton (KULEX) has been proposed which is dedicated for assisting older and disabled people during ADL [50]. The proposed system includes 3 sections as shown in Figure 10; 1-DoF hand part for assisting grasping motion, 6-DoF serial robot for supporting forearm movement and 3-DoF parallel mechanism for assisting wrist movement, moreover the overall structure consumes less power, has sufficient maneuverability and a light weight.…”

Section: Mechanism Designmentioning

confidence: 99%

State-of-the-Art Assistive Powered Upper Limb Exoskeletons for Elderly

2020

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The number of older people is growing rapidly around the world. Ageing process results in reduced or restricted mobility which is essential to perform activities of daily living. Currently, there are numerous powered assistive exoskeletons commercially available as well as are being developed to support and rehabilitate lower limbs. Significant attention is also been given to develop upper limb rehabilitation devices, however the question of what kind of assistive devices can be used by elderly group of people for their upper limbs and what technical characteristics they should incorporate is not properly researched. This paper presents the state of the art of currently available assistive exoskeletons which can be exploited to support the motions of upper limbs of elderly to perform activities of daily living. Mechanism type, degrees of freedom, type actuators and materials selected for the fabrication of these porotypes are presented in detail. Also, the type of control systems utilized for these upper limb exoskeletons are discussed in detail with the insight on the feedback signal methods. A detailed discussion on the challenges in the fields of mechanism development, actuation and control for these upper limb powered exoskeletons is presented with the opportunities for future technological developments.

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Biomimetic and Psychophysical Investigations on Lifting Tasks for Developing Cooperative Reinforcement Learning Control of a Power Assist Robotic System

Rahman

2023

Lecture Notes in Networks and Systems

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KULEX: ADL power assistant robotic system for the elderly and the disabled (Abstract for video)

Cited by 6 publications

References 0 publications

Exoskeletons for Elderly Activity of Daily Living Assistance: A Review of Upper Limb Exoskeletons and Assessments

Exoskeletons for Elderly Activity of Daily Living Assistance: A Review of Upper Limb Exoskeletons and Assessments

State-of-the-Art Assistive Powered Upper Limb Exoskeletons for Elderly

Biomimetic and Psychophysical Investigations on Lifting Tasks for Developing Cooperative Reinforcement Learning Control of a Power Assist Robotic System

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