Wrist Exoskeleton Design for Pronation and Supination using Mirrored Movement Control

Fulton, Paula Villa; Lohlein, Simone; Paredes-Acuna, Natalia; Berberich, Nicolas; Cheng, Gordon

doi:10.1109/icar53236.2021.9659397

Cited by 8 publications

(5 citation statements)

References 24 publications

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“…Upper-limb rehabilitation can also be improved by involving EMG sensors for intent detection during mirror therapy [ 62 , 120 , 129 ]. One comparative study [ 76 ] showed that, by using a neural network-based strategy, a difference of more than 50% in torque compensation could be observed as opposed to several other control methods.…”

Section: Discussionmentioning

confidence: 99%

A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics

Ang

Yeow

Lim

2023

Sensors

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In recent years, the advent of soft robotics has changed the landscape of wearable technologies. Soft robots are highly compliant and malleable, thus ensuring safe human-machine interactions. To date, a wide variety of actuation mechanisms have been studied and adopted into a multitude of soft wearables for use in clinical practice, such as assistive devices and rehabilitation modalities. Much research effort has been put into improving their technical performance and establishing the ideal indications for which rigid exoskeletons would play a limited role. However, despite having achieved many feats over the past decade, soft wearable technologies have not been extensively investigated from the perspective of user adoption. Most scholarly reviews of soft wearables have focused on the perspective of service providers such as developers, manufacturers, or clinicians, but few have scrutinized the factors affecting adoption and user experience. Hence, this would pose a good opportunity to gain insight into the current practice of soft robotics from a user’s perspective. This review aims to provide a broad overview of the different types of soft wearables and identify the factors that hinder the adoption of soft robotics. In this paper, a systematic literature search using terms such as “soft”, “robot”, “wearable”, and “exoskeleton” was conducted according to PRISMA guidelines to include peer-reviewed publications between 2012 and 2022. The soft robotics were classified according to their actuation mechanisms into motor-driven tendon cables, pneumatics, hydraulics, shape memory alloys, and polyvinyl chloride muscles, and their pros and cons were discussed. The identified factors affecting user adoption include design, availability of materials, durability, modeling and control, artificial intelligence augmentation, standardized evaluation criteria, public perception related to perceived utility, ease of use, and aesthetics. The critical areas for improvement and future research directions to increase adoption of soft wearables have also been highlighted.

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Section: Discussionmentioning

confidence: 99%

A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics

Ang

Yeow

Lim

2023

Sensors

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“…The model was then imported into SolidWorks 2020 (Dassault Systèmes, France) for the development of the multipurpose customized orthosis. The multipurpose customized orthosis was designed to cover the entire range of motion of 0-180 degrees, as most of the activities require a standard range of motion between 40 and 140 degrees [18].…”

Section: Measurementsmentioning

confidence: 99%

Development and Trial of a Multipurpose Customized Orthosis for Activities of Daily Living in Patients with Spinal Cord Injury

et al. 2023

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People with mid-cervical spinal cord injury (SCI) often have difficulty in performing activities of daily living due to weakness or paralysis in the flexor muscles. The inability to perform activities requiring fine motor control, such as eating, brushing, writing, unlocking doors, etc., affects overall quality of life negatively. To perform such tasks, appropriate movement of the hands, specifically at the wrist, is essential. For SCI patients, wrist orthotics are considered a viable option with which to perform general tasks. Wrist orthotics, used for rehabilitating people with SCI, help to maintain proper wrist and hand positioning; however, patients must frequently change these orthotic devices as per separate activity requirements. This becomes difficult and cumbersome for such patients. In this work, a passive 3D-printed upper-extremity dynamic orthosis was developed to assist SCI patients in their activities of daily living. The orthosis works on the principle of a worm-gear-based mechanism to produce pronation/supination motions at the wrist. To test the developed multipurpose customized orthosis, ten patients with cervical SCI were recruited and prescribed the 3D-printed splint for a period of four weeks. It was assessed through the QUEST questionnaire and a task completion assessment for its performance. The developed multipurpose customized orthotic device was found to provide an appropriate range of motion, ease in performing tasks, and took less time to complete tasks compared to previous works. The results indicated satisfactory performance, thereby improving quality of life. The multipurpose customized orthotic device successfully assisted the subjects with their daily activities, thus making them more independent in their rehabilitative period.

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“…Among upper body joints, the hand and wrist are the most important for objecthandling tasks, while the elbow and shoulder joints help to reach a target object [6]. Both rigid and soft robotic exoskeletons have been well explored for assisting the movements of the hand [7][8][9][10] and wrist [11][12][13] joints. Regarding hand rehabilitation robotic devices, many different types (end-effector-based, active, and passive) have been studied and reviewed for their advantages and disadvantages [7].…”

Section: Introductionmentioning

confidence: 99%

“…After the development of rigid robotic hand exoskeletons, Haghshenas-Jaryani et al [10] developed a soft robotic hand exoskeleton to overcome the disadvantages of rigid robotics. In the case of wrist joint exoskeletons, studies [11,12] present rigid robotic wrist exoskeleton designs, while [13] developed a soft robotic design of a wrist exoskeleton. However, these works [7][8][9][10][11][12][13] studied the hand and wrist joints separately.…”

Section: Introductionmentioning

confidence: 99%

“…In the case of wrist joint exoskeletons, studies [11,12] present rigid robotic wrist exoskeleton designs, while [13] developed a soft robotic design of a wrist exoskeleton. However, these works [7][8][9][10][11][12][13] studied the hand and wrist joints separately. Incorporating a wrist joint into the hand exoskeleton holds significant importance in rehabilitation [14].…”

Section: Introductionmentioning

confidence: 99%

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Pneumatically Actuated Soft Robotic Hand and Wrist Exoskeleton for Motion Assistance in Rehabilitation

Ridremont,

Singh,

Bruzek

et al. 2024

Actuators

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Exoskeletons are being explored for assisting motion therapy for neurological impairment-related rehabilitation. Soft robotic exoskeletons are gaining more attention for upper-extremity applications due to their simplistic actuation mechanisms and compliant nature. To regain fine motor hand functions, it is desired to have both hand and wrist motions in a coordinated fashion, as most daily living tasks require a combination of both hand and wrist joint motions. However, a soft robotic exoskeleton with hand and wrist motion together is an underdeveloped area. This paper presents a pneumatically actuated soft robotic exoskeleton designed to provide coordinated assistive motion to the hand and wrist joints using PD-based feedback control. The results showed the potential of the exoskeleton to provide flexion/extension rehabilitation exercises and task-oriented rehabilitation practices. Additionally, the results have confirmed that the implemented PD control ensures that the exoskeleton reaches the targeted angular trajectories and velocities. Two modes, full and partial assistance, were successfully tested to verify the ability of the exoskeleton to accommodate varying levels of impairment.

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Wrist Exoskeleton Design for Pronation and Supination using Mirrored Movement Control

Cited by 8 publications

References 24 publications

A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics

A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics

Development and Trial of a Multipurpose Customized Orthosis for Activities of Daily Living in Patients with Spinal Cord Injury

Pneumatically Actuated Soft Robotic Hand and Wrist Exoskeleton for Motion Assistance in Rehabilitation

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