Myoelectric Control of a Soft Hand Exoskeleton Using Kinematic Synergies

Burns, Martin; Pei, Dingyi; Vinjamuri, Ramana

doi:10.1109/tbcas.2019.2950145

Cited by 45 publications

(37 citation statements)

References 53 publications

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“…Furthermore, HEXOES is a soft hand exoskeleton that helps poststroke patients in ADL by using EMG signals from the left hand to coordinate movement of the right hand. An artificial neural network was trained to decode the neural signals and extract the combinations from the left hand in real-time, achieving a low 8.3 ± 3.4% validation error [241].…”

Section: Ai Algorithms For Neural Signal Processingmentioning

confidence: 99%

Converging Robotic Technologies in Targeted Neural Rehabilitation: A Review of Emerging Solutions and Challenges

Nizamis

Athanasiou

Almpani

et al. 2021

Sensors

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Recent advances in the field of neural rehabilitation, facilitated through technological innovation and improved neurophysiological knowledge of impaired motor control, have opened up new research directions. Such advances increase the relevance of existing interventions, as well as allow novel methodologies and technological synergies. New approaches attempt to partially overcome long-term disability caused by spinal cord injury, using either invasive bridging technologies or noninvasive human–machine interfaces. Muscular dystrophies benefit from electromyography and novel sensors that shed light on underlying neuromotor mechanisms in people with Duchenne. Novel wearable robotics devices are being tailored to specific patient populations, such as traumatic brain injury, stroke, and amputated individuals. In addition, developments in robot-assisted rehabilitation may enhance motor learning and generate movement repetitions by decoding the brain activity of patients during therapy. This is further facilitated by artificial intelligence algorithms coupled with faster electronics. The practical impact of integrating such technologies with neural rehabilitation treatment can be substantial. They can potentially empower nontechnically trained individuals—namely, family members and professional carers—to alter the programming of neural rehabilitation robotic setups, to actively get involved and intervene promptly at the point of care. This narrative review considers existing and emerging neural rehabilitation technologies through the perspective of replacing or restoring functions, enhancing, or improving natural neural output, as well as promoting or recruiting dormant neuroplasticity. Upon conclusion, we discuss the future directions for neural rehabilitation research, diagnosis, and treatment based on the discussed technologies and their major roadblocks. This future may eventually become possible through technological evolution and convergence of mutually beneficial technologies to create hybrid solutions.

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Section: Ai Algorithms For Neural Signal Processingmentioning

confidence: 99%

Converging Robotic Technologies in Targeted Neural Rehabilitation: A Review of Emerging Solutions and Challenges

Nizamis

Athanasiou

Almpani

et al. 2021

Sensors

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“…In cable-based RAS, a rope or a cable mechanically connects the actuation unit to the output. Most of the reviewed RAS use Bowden cables consisting of a cable guided in a sheath (Letier et al, 2006;Veneman et al, 2007;Kong et al, 2009;Wang et al, 2009;Vitiello et al, 2013;Agarwal et al, 2015;Asbeck et al, 2015;Bartenbach et al, 2015;Cempini et al, 2015;In et al, 2015;Nycz et al, 2015Nycz et al, , 2016Cappello et al, 2016;Choi et al, 2016;Choi et al, 2019;Dinh et al, 2016;Kalantari and Ghaffari, 2016;Norman et al, 2016;Xiloyannis et al, 2016Xiloyannis et al, , 2019Blumenschein et al, 2017;Jeong and Cho, 2017;Popov et al, 2017;Randazzo et al, 2018;Yi et al, 2018;Burns et al, 2019;Dwivedi et al, 2019;Tran et al, 2020). Electrical motors are most commonly used to actuate the cable transmission.…”

Section: Cable-based Transmissionsmentioning

confidence: 99%

“…Actuation units of cable-based transmission systems are mostly composed of rotational electromagnetic motors in combination with gears (Veneman et al, 2007;Asbeck et al, 2015;Nycz et al, 2015;Xiloyannis et al, 2016Xiloyannis et al, , 2019Blumenschein et al, 2017;Park et al, 2019;Rose and O'Malley, 2019), pulleys (Vitiello et al, 2013;Choi et al, 2019), lead screws (Cempini et al, 2015), or winches (Letier et al, 2006;Agarwal et al, 2015;In et al, 2015;Cappello et al, 2016;Dinh et al, 2016;Kalantari and Ghaffari, 2016;Xiloyannis et al, 2016;Jeong and Cho, 2017;Thielbar et al, 2017;Tran et al, 2020). Alternatively, linear motors and servo motors, directly attached to the cable, have been used (Choi et al, 2016;Norman et al, 2016;Nycz et al, 2016;Kim and Park, 2018;Lemerle et al, 2018;Burns et al, 2019). Yi et al (2018) combined a linear SPA with Bowden cables to drive the flexion/extension of the fingers of a wearable hand exoskeleton.…”

Section: Cable-based Transmissionsmentioning

confidence: 99%

Remote Actuation Systems for Fully Wearable Assistive Devices: Requirements, Selection, and Optimization for Out-of-the-Lab Application of a Hand Exoskeleton

et al. 2021

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Wearable robots assist individuals with sensorimotor impairment in daily life, or support industrial workers in physically demanding tasks. In such scenarios, low mass and compact design are crucial factors for device acceptance. Remote actuation systems (RAS) have emerged as a popular approach in wearable robots to reduce perceived weight and increase usability. Different RAS have been presented in the literature to accommodate for a wide range of applications and related design requirements. The push toward use of wearable robotics in out-of-the-lab applications in clinics, home environments, or industry created a shift in requirements for RAS. In this context, high durability, ergonomics, and simple maintenance gain in importance. However, these are only rarely considered and evaluated in research publications, despite being drivers for device abandonment by end-users. In this paper, we summarize existing approaches of RAS for wearable assistive technology in a literature review and compare advantages and disadvantages, focusing on specific evaluation criteria for out-of-the-lab applications to provide guidelines for the selection of RAS. Based on the gained insights, we present the development, optimization, and evaluation of a cable-based RAS for out-of-the-lab applications in a wearable assistive soft hand exoskeleton. The presented RAS features full wearability, high durability, high efficiency, and appealing design while fulfilling ergonomic criteria such as low mass and high wearing comfort. This work aims to support the transfer of RAS for wearable robotics from controlled lab environments to out-of-the-lab applications.

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“…Normally, open-loop control (OLC) and closed-loop control strategies are implemented during SEG operation. OLC schemes have used springs [1,34] or mechanical switches [54] for manual operation where patients are able to drive an actuator to accomplish a specific task [96]. OLC strategies require the system to be stable by construction.…”

Section: Applied Bionics and Biomechanicsmentioning

confidence: 99%

Design Criteria of Soft Exogloves for Hand Rehabilitation-Assistance Tasks

Dávila-Vilchis

Ávila-Vilchis

Vilchis-González

et al. 2020

Applied Bionics and Biomechanics

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This paper establishes design criteria for soft exogloves (SEG) to be used as rehabilitation or assistance devices. This research consists in identifying, selecting, and grouping SEG features based on the analysis of 91 systems that have been proposed during the last decade. Thus, function, mobility, and usability criteria are defined and explicitly discussed to highlight SEG design guidelines. Additionally, this study provides a detailed description of each system that was analysed including application, functional task, palm design, actuation type, assistance mode, degrees of freedom (DOF), target fingers, motions, material, weight, force, pressure (only for fluids), control strategy, and assessment. Such characteristics have been reported according to specific design methodologies and operating principles. Technological trends are contemplated in this contribution with emphasis on SEG design opportunity areas. In this review, suggestions, limitations, and implications are also discussed in order to enhance future SEG developments aimed at stroke survivors or people with hand disabilities.

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Myoelectric Control of a Soft Hand Exoskeleton Using Kinematic Synergies

Cited by 45 publications

References 53 publications

Converging Robotic Technologies in Targeted Neural Rehabilitation: A Review of Emerging Solutions and Challenges

Converging Robotic Technologies in Targeted Neural Rehabilitation: A Review of Emerging Solutions and Challenges

Remote Actuation Systems for Fully Wearable Assistive Devices: Requirements, Selection, and Optimization for Out-of-the-Lab Application of a Hand Exoskeleton

Design Criteria of Soft Exogloves for Hand Rehabilitation-Assistance Tasks

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