Validation of a Hybrid Exoskeleton for Upper Limb Rehabilitation. A Preliminary Study

Abstract

Recovery of therapeutic or functional ambulatory capacity in patients with rotator cuff injury is a primary goal of rehabilitation. Wearable powered exoskeletons allow patients to perform repetitive practice with large movements to maximize recovery, even immediately after the acute event. The aim of this paper is to describe the usability, acceptability and acceptance of a hybrid exoskeleton for upper-limb passive rehabilitation using the System Usability Scale (SUS) questionnaire. This equipment, called ExoFlex, is defined as a hybrid exoskeleton since it is made up of rigid and soft components. The exoskeleton mechanical description is presented along with its control system and the way motion is structured in rehabilitation sessions. Seven patients (six women and one man) have participated in the evaluation of this equipment, which are in the range of 50 to 79 years old. Preliminary evidence of the acceptance and usability by both patients and clinicians are very promising, obtaining an average score of 80.71 in the SUS test, as well as good results in a questionnaire that evaluates the clinicians’ perceived usability of ExoFlex.

The most used questionnaires for evaluating the usability of robots and smart wearables: A scoping review

“…As shown in Figure 3 , the majority of articles focusing on the most used questionnaires for evaluating the usability of robots and smart wearables were published in 2020 ( n = 11), 22 – 29 , 52 – 54 2021 ( n = 9), 1,0– 34 , 55 – 57 and 2022 ( n = 10), 35 – 41 , 58 – 60 respectively (More details in Table 2 ).…”

Predictor-Based Current Limitation Method for a DC Motor-Actuated Upper-Limb Rehabilitation Exoskeleton

“…The following development is focused on the design of the algorithm for a single DC motor. For simulation, the chosen parameters are the ones of a Maxon DCX22S GB KL 48V, which is the model that authors use for their exoskeletons/exosuits in [5] and [22]. Motor parameters can be found in Table 1 and have been extracted from the datasheet.…”

“…The algorithm has been implemented over the cable-driven rehabilitation upper-limb exoskeleton ExoFlex [5]. The objective of this experiment is to validate the current limitation method developed in this work in a real application, in which the load over the motor can vary arbitrarily since there exists human-robot interaction.…”

“…There exist two general types of applications for exoskeletons in terms of control modes: motion assistance ( [1]- [3]) and passive rehabilitation ( [4], [5]). Motion assistance relies on impedance/admittance control architectures to adapt to the movements the user performs.…”

Study of exoskeletons for upper limb rehabilitation

“…Preliminary evidence of the acceptance and usability by both patients and clinicians are very promising, obtaining an average score of 80.71 in the SUS test, as well as good results in a questionnaire that evaluates the clinicians' perceived usability of ExoFlex. This study is the modified compilation of publication [216].…”