Mechatronic Exoskeleton Systems for Supporting the Biomechanics of Shoulder-Elbow-Wrist: An Innovative Review

Cornejo, José; Huamanchahua, Deyby; Huaman-Vizconde, Sofia; Terrazas-Rodas, Dana; Sierra-Huertas, Jorge; Janampa-Espinoza, Alexander; Gonzales, Jorge; Cardona, Manuel

doi:10.1109/iemtronics52119.2021.9422660

Cited by 38 publications

(9 citation statements)

References 78 publications

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“…The virtual game on the computer requires the patient to move certain objects to certain positions that would be stored for later motor learning evaluation process. ChARMin [45] is an exoskeleton designed for children with impaired motor functions. The device aims to enlarge the range of motion of the patient's arm due to the wide workspace.…”

Section: Kinematics-based Designsmentioning

confidence: 99%

A review of upper limb robot assisted therapy techniques and virtual reality applications

Ibrahim

Ammar²,

Shalaby³

2022

IJ-AI

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Impairments in the sensorimotor system negatively impact the ability of individuals to perform daily activities autonomously. Upper limb rehabilitation for stroke survivors and cerebral palsy (CP) children is essential to enhance independence and quality of life. Robot assisted therapy has been a bright solution in the last two decades to promote the recovery process for neurological disorders patients. Nevertheless, defining the optimum intervention of robot assisted therapy (RAT) in different cases is not clear yet. With this aim, the presented study reviewed the current literature on RAT protocols for upper limb impairments and the effects of RAT on recovery outcomes. A literature search was conducted using different search engines, reviews, and studies. This study presents an overview of fourteen robotic devices used in the rehabilitation field and seventeen clinical trials using commercially available devices during the last three years. A discussion about reaching an efficient rehabilitation process based on different aspects such as clinical setting and training modes has been introduced. This review identifies the limitations of RAT to lay the foundation for more effective neuromotor disorders rehabilitation. Finally, using virtual reality (VR) as an assisting feature in RAT improves the whole process of recovering motor functionality.

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Section: Kinematics-based Designsmentioning

confidence: 99%

A review of upper limb robot assisted therapy techniques and virtual reality applications

Ibrahim

Ammar²,

Shalaby³

2022

IJ-AI

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“…The exoskeletons and anthropomorphic robots are actively developed, as evidenced by the large number of publications in this domain [5][6][7][8][9][10]. Since some simulation difficulties emerge with the models with large number of freedom degrees, it is suggested to use the smart motion control models that can be further extensively applied in designing actually working controlled robotic devices, such as an active exoskeleton for a human, or an anthropomorphic industrial robot.…”

Section: Introductionmentioning

confidence: 99%

Comparative analysis of exoskeleton mechanical models with mobile links having maximal mobility degrees, and their generalization for the case of n links

Konchina,

Kulikova,

Maslova

et al. 2024

Third International Conference on Optics, Computer Applications, and Materials Science (CMSD-III 2023)

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The software, implementing mathematical models of 2D and 3D active exoskeletons with electric drives, has been developed in the environment of universal computer mathematical system "Wolfram Mathematica". Each model has the same structure and includes five mobile links. Generalization of these models for the case of arbitrary finite number of n links is made. The angles, calculated between the links of the models, are used in the software described in the article, which differ these models from the existing ones. Cylindrical hinges are used for the articulated interconnection of the links in the 2D model. As for the 3D model, the spherical hinges perfectly implement all mobility degrees available in the human musculoskeletal system. This fact also differ the proposed 3D model from the existing ones, which have limited mobility and use not only spherical, but also cylindrical hinges to join some links in order to reduce dimension of the system of differential equations of motion. The comparative analysis of the obtained mathematical models for the two mechanisms in the form of Lagrange equations of the second kind is made. The system of electromechanical equations for the model using asynchronous AC motor is listed. The solution of direct and inverse dynamics problems is given for 2D model. As for the 3D model, no numerical solution of the Cauchy problem has been obtained due to large dimension of the system of differential equations of motion and limited computing power. Therefore, the idea about exoskeleton motion control model based on artificial intelligence that needs to be developed is suggested.

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“…This Part II paper differs from the available literature [10,12,[40][41][42][43][44][45][46] as it focuses on wearable and portable wrist exoskeletons designed since the 2000s and available both as prototypes and as commercial devices.…”

Section: Introductionmentioning

confidence: 99%

State of the Art in Wearable Wrist Exoskeletons Part II: A Review of Commercial and Research Devices

Pitzalis,

Park,

Caldwell

et al. 2023

Machines

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Manual handling tasks, both in daily activities and at work, require high dexterity and the ability to move objects of different shapes and sizes. However, musculoskeletal disorders that can arise due to aging, disabilities, overloading, or strenuous work can impact the natural capabilities of the hand with serious repercussions both in working and daily activities. To address this, researchers have been developing and proving the benefits of wrist exoskeletons. This paper, which is Part II of a study on wrist exoskeletons, presents and summarizes wearable wrist exoskeleton devices intended for use in rehabilitation, assistance, and occupational fields. Exoskeletons considered within the study are those available either in a prototyping phase or on the market. These devices can support the human wrist by relieving pain or mitigating fatigue while allowing for at least one movement. Most of them have been designed to be active (80%) for higher force/torque transmission, and soft for better kinematic compliance, ergonomics, and safety (13 devices out of 24, more than 50%). Electric motors and cable transmission (respectively 11 and 9 devices, out of 24, i.e., almost 50% and 40%) are the most common due to their simplicity, controllability, safety, power-to-weight ratio, and the possibility of remote actuation. As sensing technologies, position and force sensors are widely used in all devices (almost 90%). The control strategy depends mainly on the application domain: for rehabilitation, CPM (control passive motion) is preferred (35% of devices), while for assistance and occupational purposes, AAN (assistance-as-needed) is more suitable (38% of the devices). What emerges from this analysis is that, while rehabilitation and training are fields in which exoskeletons have grown more easily and gained some user acceptance (almost 18 devices, of which 4 are available on the market), relatively few devices have been designed for occupational purposes (5, with only 2 available on the market) due to difficulties in meeting the acceptance and needs of users. In this perspective, as a result of the state-of-the-art analysis, the authors propose a conceptual idea for a portable soft wrist exoskeleton for occupational assistance.

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Mechatronic Exoskeleton Systems for Supporting the Biomechanics of Shoulder-Elbow-Wrist: An Innovative Review

Cited by 38 publications

References 78 publications

A review of upper limb robot assisted therapy techniques and virtual reality applications

A review of upper limb robot assisted therapy techniques and virtual reality applications

Comparative analysis of exoskeleton mechanical models with mobile links having maximal mobility degrees, and their generalization for the case of n links

State of the Art in Wearable Wrist Exoskeletons Part II: A Review of Commercial and Research Devices

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