Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements

SUMMARYTo assist physically disabled people with impaired upper limb function, we have developed a new 7-DOF exoskeleton-type robot named Motion Assistive Robotic-Exoskeleton for Superior Extremity (ETS-MARSE) to ease daily upper limb movements and to provide effective rehabilitation therapy to the superior extremity. The ETS-MARSE comprises a shoulder motion support part, an elbow and forearm motion support part, and a wrist motion support part. It is designed to be worn on the lateral side of the upper limb in order to provide naturalistic movements of the shoulder (vertical and horizontal flexion/extension and internal/external rotation), elbow (flexion/extension), forearm (pronation/supination), and wrist joint (radial/ulnar deviation and flexion/extension). This paper focuses on the modeling, design, development, and control of the ETS-MARSE. Experiments were carried out with healthy male human subjects in whom trajectory tracking in the form of passive rehabilitation exercises (i.e., pre-programmed trajectories recommended by a therapist/clinician) were carried out. Experimental results show that the ETS-MARSE can efficiently perform passive rehabilitation therapy.

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Design and Construction of a Planar Robotic Exoskeleton for Assessment of Upper Limb Movements

2019 7th International Conference on Robotics and Mechatronics (ICRoM) ◽

10.1109/icrom48714.2019.9071807 ◽

2019 ◽

Author(s):

Akbar Nikzad Goltapeh ◽

Saeed Behzadipour ◽

Majid Hajihosseinali

Keyword(s):

Upper Limb ◽

Limb Movements ◽

Robotic Exoskeleton ◽

Upper Limb Movements ◽

Design And Construction

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Influence of the Sampling Rate on the Measurements of the Upper Limb Movements

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.601.163 ◽

2014 ◽

Vol 601 ◽

pp. 163-166 ◽

Cited By ~ 1

Author(s):

Mirela Toth-Taşcău ◽

Dan Ioan Stoia ◽

Flavia Bălănean

Keyword(s):

Upper Limb ◽

Sampling Rate ◽

Elbow Flexion ◽

Measuring System ◽

Shoulder Abduction ◽

Limb Movements ◽

Flexion Extension ◽

Upper Limb Movements ◽

Left And Right

The main objective of the study consists in determination of the most appropriate sampling rate of the measurements in instrumented kinematic analysis of the upper limb movements. The measuring system involved in the study is Zebris CMS-HS Measuring System, whose configuration was defined by ultrasound markers attached to specific body sites. The sampling rate interval was set from 10 to 25 Hz, according to the system’s range of frequencies. The kinematic parameters which have been analyzed are shoulder and elbow flexion-extension and shoulder abduction-adduction. A comparative kinematical analysis of the angle variations of flexion-extension and abduction-adduction in shoulder joint and flexion-extension in elbow joint was performed for both left and right upper limbs at each sampling rate.

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EFEITOS DO DEEP RUNNING SOBRE A AMPLITUDE DE MOVIMENTO E A CAPACIDADE FUNCIONAL DOS MEMBROS SUPERIORES DE MULHERES MASTECTOMIZADAS: RELATO DE CASOS

Revista Científica JOPEF ◽

10.34059/ciejop.2019v27i1-11 ◽

2019 ◽

pp. 121-131

Keyword(s):

Range Of Motion ◽

Upper Limb ◽

Functional Capacity ◽

External Rotation ◽

Treatment Protocol ◽

Range Of Movement ◽

Flexion Extension ◽

Before And After ◽

In The Beginning ◽

And Function

Introduction: Breast cancer is the most common type of cancer among women in Brazil and in the worl. The surgical treatment procedure may cause severe morbidity in the upper limb homolateral to surgery, including the reduction of the range of motion, with consequent impairment of function. A physiotherapeutic approach has an important role in the recover range of motion and the functionality of these women, guaranteeing the occupational, domestestic, familiar and conjugated activities, and, in this way, also improving the quality of life. Objectives: To analyse chances in the shoulder's range of motion and the functional capacity of the upper limbs, promoted by the deep running procedure in women with late postoperative mastectomy. Methods: All the patients were submitted to an evaluation in the beginning and end of the treatment, including: goniometry of flexion, extension, abduction, adduction, internal and external rotation of the shoulder joint; and function capacity analysis in activities that involve the upper members by DASH questionnaire. The treatment protocol includes twelve sessions of deep running, realized twice a week, in deep pool, for 20-minute during six weeks. Results: Were submitted to treatment a total of 4 patients. Despite the improvement in the numerical values, statistically significant differences were not found on the range of movements and in the functional capacity of upper members before and after the deep running sessions in post-mastectomy women. Conclusion: Deep running had effects on the numerical values of range of movement and upper limb functionality in women in the late postoperative period of the mastectomy procedure, but without statistically significant differences.

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