Upper limb rehabilitation using robotic exoskeleton systems: a systematic review

Rehmat, Naqash; Zuo, Jie; Meng, Wei; Liu, Quan; Xie, Shane; Liang, Hui

doi:10.1007/s41315-018-0064-8

Cited by 109 publications

(69 citation statements)

References 70 publications

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“…It is worth mentioning that the exoskeletons currently developed differ in terms of mechanical structure. In detail, regarding the upper limb, most of them do not provide actuation for all the degrees of freedom (see [53] for a complete review), as they are only equipped with motors for the movements of the shoulder (L-Exos [54], the Pneu-Wrex [55]) and elbow joints, while additional actuation for the wrist is not available. On the contrary, the prototype, UL-EXO7 [51], and the commercial exoskeleton, ARMEO Power, developed from the ARMinIII [50], also provide forces on the wrist and forearm.…”

Section: Shoulder; Elbow; Wristmentioning

confidence: 99%

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Perspectives and Challenges in Robotic Neurorehabilitation

et al. 2019

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The development of robotic devices for rehabilitation is a fast-growing field. Nowadays, thanks to novel technologies that have improved robots' capabilities and offered more cost-effective solutions, robotic devices are increasingly being employed during clinical practice, with the goal of boosting patients' recovery. Robotic rehabilitation is also widely used in the context of neurological disorders, where it is often provided in a variety of different fashions, depending on the specific function to be restored. Indeed, the effect of robot-aided neurorehabilitation can be maximized when used in combination with a proper training regimen (based on motor control paradigms) or with non-invasive brain machine interfaces. Therapy-induced changes in neural activity and behavioral performance, which may suggest underlying changes in neural plasticity, can be quantified by multimodal assessments of both sensorimotor performance and brain/muscular activity pre/post or during intervention. Here, we provide an overview of the most common robotic devices for upper and lower limb rehabilitation and we describe the aforementioned neurorehabilitation scenarios. We also review assessment techniques for the evaluation of robotic therapy. Additional exploitation of these research areas will highlight the crucial contribution of rehabilitation robotics for promoting recovery and answering questions about reorganization of brain functions in response to disease.In the last decades, innovative robotic technologies have been developed in order to effectively help clinicians during the neurorehabilitation process. The term "robotic technology" in this application domain refers to any mechatronic device with a certain degree of intelligence that can physically intervene on the behavior of the patient, optimizing and speeding up his/her sensorimotor recovery. The two key capabilities of these robots are: (1) Assessing the human sensorimotor function; and (2) re-training the human brain in order to improve the patient's quality of life. However, most of the studies in this field have been focused more on the development of the devices, whereas less effort was made on maximizing their efficacy for promoting recovery. The main challenge consists of designing effective training modalities, supported by appropriate control strategies. Thus, each robotic device supports a pre-defined training modality depending on the low-level control strategy implemented and also on the residual abilities of each patient. Usually, most of the rehabilitation devices implement a passive training modality (robot-driven, position control strategy), where the robot imposes the trajectories, and an active training modality (patient-driven), where the robot modulates its trajectory in response to the subject's intention to move [7,8]. However, among all the different training modalities, the most relevant is the assistive one. Assistive controllers help participants to move their impaired limbs according to the desired postures during grasping, reaching, or walki...

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Section: Shoulder; Elbow; Wristmentioning

confidence: 99%

“…Another interesting classification of exoskeleton and end-effector devices relates to their actuation system. Available possibilities are actuation by a motor, actuation by pneumatic muscle, and non-motorized actuation (such as hydraulic or springs) [53].…”

Section: Shoulder; Elbow; Wristmentioning

confidence: 99%

Perspectives and Challenges in Robotic Neurorehabilitation

et al. 2019

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“…In order to overcome this difficult situation, robotic structures for post-stroke rehabilitation of upper or lower limb started to be developed, being a suitable aid for the kinetotherapist performing the repetitive rehabilitation motions. In the last decades, a series of robotic structures for medical rehabilitation of the upper limb have been developed and analyzed by Huang [6], Al-Fahaan [7], Vaida [8,9], Carbone [10], Görgülü [11], Husty [12], Berceanu [13], Tarnita [14], Gherman [15], Tucan [16] and furthermore systematically reviewed by Ona [17,18], Baur [19], Onase [20], and Rehmat [21]. Some significant research prototypes are presented below.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation

Tucan

Gherman

Major

et al. 2020

IJERPH

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A few decades ago, robotics started to be implemented in the medical field, especially in the rehabilitation of patients with different neurological diseases that have led to neuromuscular disorders. The main concern regarding medical robots is their safety assurance in the medical environment. The goal of this paper is to assess the risk of a medical robotic system for elbow and wrist rehabilitation in terms of robot and patient safety. The approached risk assessment follows the ISO12100:2010 risk management chart in order to determine, identify, estimate, and evaluate the possible risk that can occur during the use of the robotic system. The result of the risk assessment process is further analyzed using a fuzzy logic system in order to determine the safety degree conferred during the use of the robotic system. The innovative process concerning the risk assessment allows the achievement of a reliable medical robotic system both for the patient and the clinicians as well. The clinical trials performed on a group of 18 patients validated the functionality and the safe behavior of the robotic system.

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“…Numerous review papers have been published on the topic of upper limb exoskeletons for rehabilitation and assistive purposes [14][15][16][17][18][19][20][21][22][23][24][25]. The difference between these published review papers and this paper is that the current paper concentrates mostly on robotic upper limb devices which can be used by old people to perform their ADL, enabling them improving their life quality.…”

Section: Introductionmentioning

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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Upper limb rehabilitation using robotic exoskeleton systems: a systematic review

Abstract: This is a repository copy of Upper limb rehabilitation using robotic exoskeleton systems: a systematic review.

Cited by 109 publications

References 70 publications

Perspectives and Challenges in Robotic Neurorehabilitation

Perspectives and Challenges in Robotic Neurorehabilitation

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation

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

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