TAMU CLEVERarm: A novel exoskeleton for rehabilitation of upper limb impairments

Soltani-Zarrin, Rana; Zeiaee, Amin; Eib, Andrew; Langari, Reza; Robson, Nina; Tafreshi, Reza

doi:10.1109/werob.2017.8383844

Cited by 9 publications

(3 citation statements)

References 5 publications

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“…The control scheme relies on an impedance-based controller employed to track rehabilitation exercises implemented in the game environment. The path generator computes human-like motions that support the scapulohumeral rhythm Soltani-Zarrin et al (2017). Additionally, the controller is provided with a gravitational model of the robot to cancel the weight of the exoskeleton, and a friction compensation method, achieved through an admittance-based controller.…”

Section: The Cleverarm Exoskeletonmentioning

confidence: 99%

Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons

et al. 2021

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Technology-supported rehabilitation therapy for neurological patients has gained increasing interest since the last decades. The literature agrees that the goal of robots should be to induce motor plasticity in subjects undergoing rehabilitation treatment by providing the patients with repetitive, intensive, and task-oriented treatment. As a key element, robot controllers should adapt to patients’ status and recovery stage. Thus, the design of effective training modalities and their hardware implementation play a crucial role in robot-assisted rehabilitation and strongly influence the treatment outcome. The objective of this paper is to provide a multi-disciplinary vision of patient-cooperative control strategies for upper-limb rehabilitation exoskeletons to help researchers bridge the gap between human motor control aspects, desired rehabilitation training modalities, and their hardware implementations. To this aim, we propose a three-level classification based on 1) “high-level” training modalities, 2) “low-level” control strategies, and 3) “hardware-level” implementation. Then, we provide examples of literature upper-limb exoskeletons to show how the three levels of implementation have been combined to obtain a given high-level behavior, which is specifically designed to promote motor relearning during the rehabilitation treatment. Finally, we emphasize the need for the development of compliant control strategies, based on the collaboration between the exoskeleton and the wearer, we report the key findings to promote the desired physical human-robot interaction for neurorehabilitation, and we provide insights and suggestions for future works.

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Section: The Cleverarm Exoskeletonmentioning

confidence: 99%

Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons

et al. 2021

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“…Another method is by analyzing the structure and motion characteristics of the human arm. In [9][10][11][12], the characteristics of human upper limb exoskeleton, shoulder movement, and arm muscles were studied respectively during human arm movements. Xie et al [13] presented the human arm motion by the target arm pose (TAP).…”

Section: Introductionmentioning

confidence: 99%

Humanoid motion planning of robotic arm based on human arm action feature and reinforcement learning

et al. 2021

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“…Researchers have developed a hard exoskeleton elbow for assisting people with the upper limb [2][3][4][5][6][7][8]. They succeeded in building a hard elbow exoskeleton robot to provide mechanical assistance for a user/wearer mostly for flexion and extension motion.…”

Section: Introductionmentioning

confidence: 99%

Soft Elbow Exoskeleton for Upper Limb Assistance Incorporating Dual Motor-Tendon Actuator

et al. 2019

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Loss of muscle functions, such as the elbow, can affect the quality of life of a person. This research is aimed at developing an affordable two DOF soft elbow exoskeleton incorporating a dual motor-tendon actuator. The soft elbow exoskeleton can be used to assist two DOF motions of the upper limb, especially elbow and wrist movements. The exoskeleton is developed using fabric for the convenience purpose of the user. The dual motor-tendon actuator subsystem employs two DC motors coupled with lead-to-screw converting motion from angular into linear motion. The output is connected to the upper arm hook on the soft exoskeleton elbow. With this mechanism, the proposed actuator system is able to assist two DOF movements for flexion/extension and pronation/supination motion. Proportional-Integral (PI) control is implemented for controlling the motion. The optimized value of Kp and Ki are 200 and 20, respectively. Based on the test results, there is a slight steady-state error between the first and the second DC motor. When the exoskeleton is worn by a user, it gives more steady-state errors because of the load from the arm weight. The test results demonstrate that the proposed soft exoskeleton elbow can be worn easily and comfortably by a user to assist two DOF for elbow and wrist motion. The resulted range of motion (ROM) for elbow flexion–extension can be varied from 90° to 157°, whereas the maximum of ROM that can be achieved for pronation and supination movements are 19° and 18°, respectively.

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TAMU CLEVERarm: A novel exoskeleton for rehabilitation of upper limb impairments

Cited by 9 publications

References 5 publications

Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons

Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons

Humanoid motion planning of robotic arm based on human arm action feature and reinforcement learning

Soft Elbow Exoskeleton for Upper Limb Assistance Incorporating Dual Motor-Tendon Actuator

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