Preliminary results on a hybrid FES-exoskeleton system aiming to rehabilitate upper limb in disabled people

Abstract

This paper presents the design and the development process of a hybrid FES-Exoskeleton (EXOSLIM) system intended for rehabilitation of the upper limbs in stroke patients. The present work is aiming to develop an exoskeleton that supports the human upper limb activities by using a control architecture for shoulder flexion and extension, abduction and adduction, medial and lateral rotation, elbow flexion and extension and forearm pronation and supination. The main goal is to develop an adaptable and modular exerciser, which follows one of the user upper limbs during the rehabilitation process, sparing training time and allowing fast adjustments to new situations and using any residual control of the end-user. These facts make the system suitable for long term utilization in daily activities. The exoskeleton is designed with mechanical compliance to the human arm. The actuation system is also studied and designed. The paper provides an overview of the upper limb rehabilitation and evaluation techniques.

Hand Rehabilitation Robotics on Poststroke Motor Recovery

“…The success of treatment combined with FES and EMG can also inspire the notion of combing robots and FES. Serea et al have realized a system according to this notion [ 83 , 172 ]. These two kinds of actuation are both promising for the interaction between the human hand and robots, thus demanding a higher level of choosing sensors.…”

The Manufacturing of Textile Products with Incorporated Electrodes

“…Newly proposed hybrid FES-exoskeleton systems [11,12] may bring better rehabilitation results by inducing cortical reorganization and finesse in following hand exercises trajectories. In skin surface FES, electrodes placed over the nerve are connected by leads to a stimulator unit and may be triggered with a foot switch (e.g.…”

Estudio sistémico de una estructura exoesquelética para la rehabilitación de la atrofia muscular de la mano en personas con artritis reumatoide

“…Un exoesqueleto es una estructura normalmente dura y producida por secreción de células tegumentarias, que generalmente está destinada a ser portada sobre un cuerpo o ser vivo a modo de protección frente al entorno (Serea et al, 2013).…”

“…Un exoesqueleto robótico se compone de una estructura de esqueleto artificial externo de un órgano o sistema del cuerpo humano que lo sustituye y que dispone de piezas robóticas que lo automatizan para ser controlado por el ser humano mediante un sistema computacional semiautónomo. La autonomía de exoesqueleto robótico dependerá del control de los movimientos que se programen (Serea et al, 2013).…”