Using Robot Skin to Support Physical Therapy Routines with a Lightweight Upper-Limb Exoskeleton

2021 ◽  
Author(s):  
Natalia Paredes-Acuna ◽  
Nicolas Berberich ◽  
Emmanuel Dean-Leon ◽  
Gordon Cheng
Keyword(s):  
Physical Therapy ◽  
Upper Limb ◽  
Upper Limb Exoskeleton ◽  
Robot Skin

Novel Adaptive Reaching Law for Sliding Mode Control of an Upper Limb Exoskeleton Robot*

2020 ◽  
Author(s):  
Brahim Brahmi ◽  
Khaled El-Monajjed ◽  
Mohammad Habibur Rahman ◽  
Tanvir Ahmed ◽  
Claude El-Bayeh ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Sliding Mode ◽  
Reaching Law ◽  
Mode Control ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

scholarly journals A Novel Inverse Kinematics Method for Upper-Limb Exoskeleton under Joint Coordination Constraints

2020 ◽  
Author(s):  
Stefano Dalla Gasperina ◽  
Keya Ghonasgi ◽  
Ana C. de Oliveira ◽  
Marta Gandolla ◽  
Alessandra Pedrocchi ◽  
...  
Keyword(s):  
Upper Limb ◽  
Inverse Kinematics ◽  
Joint Coordination ◽  
Upper Limb Exoskeleton

scholarly journals Kinematic of the Position and Orientation Synchronization of the Posture of a n DoF Upper-Limb Exoskeleton with a Virtual Object in an Immersive Virtual Reality Environment

Electronics ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 1069
Author(s):  
Deyby Huamanchahua ◽  
Adriana Vargas-Martinez ◽  
Ricardo Ramirez-Mendoza
Keyword(s):  
Virtual Reality ◽  
Upper Limb ◽  
Human Performance ◽  
Early Stage ◽  
Inverse Kinematic ◽  
Virtual Object ◽  
Immersive Virtual Reality ◽  
Virtual Reality Environment ◽  
Upper Limb Exoskeleton ◽  
Position And Orientation

Exoskeletons are an external structural mechanism with joints and links that work in tandem with the user, which increases, reinforces, or restores human performance. Virtual Reality can be used to produce environments, in which the intensity of practice and feedback on performance can be manipulated to provide tailored motor training. Will it be possible to combine both technologies and have them synchronized to reach better performance? This paper consists of the kinematics analysis for the position and orientation synchronization between an n DoF upper-limb exoskeleton pose and a projected object in an immersive virtual reality environment using a VR headset. To achieve this goal, the exoskeletal mechanism is analyzed using Euler angles and the Pieper technique to obtain the equations that lead to its orientation, forward, and inverse kinematic models. This paper extends the author’s previous work by using an early stage upper-limb exoskeleton prototype for the synchronization process.

scholarly journals Preliminary Study on the Effect of an Early Physical Therapy Intervention after Sentinel Lymph Node Biopsy: A Multicenter Non-Randomized Controlled Trial

2021 ◽  
Vol 18 (3) ◽  
pp. 1275
Author(s):  
María Jesús Muñoz-Fernández ◽  
Esther M. Medrano-Sánchez ◽  
Beatriz Ostos-Díaz ◽  
Rocío Martín-Valero ◽  
Carmen Suárez-Serrano ◽  
...  
Keyword(s):  
Lymph Node ◽  
Physical Therapy ◽  
Sentinel Lymph Node ◽  
Sentinel Lymph Node Biopsy ◽  
Usual Care ◽  
Upper Limb ◽  
Lymph Node Biopsy ◽  
Control Group ◽  
Node Biopsy ◽  
Early Physical Therapy

Selective sentinel lymph node biopsy (SLNB) represents a minimally invasive surgery in patients with breast cancer. The purpose of this study was to explore the possible effect of an early physiotherapy intervention for the recovery of the upper limb and the surgical scars after SLNB in comparison with usual care. A total of 40 patients were enrolled in either the control group (n = 20) or the experimental group (n = 20). The intervention group performed an early physiotherapy program based on functional exercises, scar manual therapy, and educational tips. The control group received usual care. Shoulder range of motion (ROM), grip strength, upper limb pain and disability (SPADI), scar recovery (POSAS), myofascial adhesions (MAP-BC), quality of life (EORTCQLA-BR-23) and the presence of axillary web syndrome (AWS) and lymphoedema were assessed at baseline and immediately after intervention. A follow-up period of 6 months was performed for lymphoedema surveillance. Between groups significant differences in favor of the intervention were found for ROM (r = 0.43), grip strength (r = 0.32), SPADI (d = 0.45), POSAS (d = 1.28), MAP-BC (d = 1.82) and EORTCQLQ-BR 23 general function subscale (d = 0.37) (p < 0.05 for all variables). Our results suggest that an early physical therapy program seems to be more effective than usual care in women after SLNB. However, results should be interpreted with caution and future randomized trial with a larger sample size is needed.

scholarly journals Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint

2018 ◽  
Vol 8 (3) ◽  
pp. 464 ◽  
Author(s):  
Xin Wang ◽  
Qiuzhi Song ◽  
Xiaoguang Wang ◽  
Pengzhan Liu
Keyword(s):  
Upper Limb ◽  
Elbow Joint ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Upper Limb Exoskeleton

EXOTIC - A Discreet User-Based 5 DoF Upper-Limb Exoskeleton for Individuals with Tetraplegia

2020 ◽  
Author(s):  
Mikkel Thogersen ◽  
Muhammad Ahsan Gull ◽  
Frederik Victor Kobbelgaard ◽  
Mostafa Mohammadi ◽  
Stefan Hein Bengtson ◽  
...  
Keyword(s):  
Upper Limb ◽  
Upper Limb Exoskeleton

Low frequency transcranial magnetic stimulation in subacute ischemic stroke: Number of sessions that altered cortical excitability

2020 ◽  
Vol 47 (4) ◽  
pp. 427-434
Author(s):  
Mohammed S. El-Tamawy ◽  
Moshera H. Darwish ◽  
Saly H. Elkholy ◽  
Engy BadrEldin S. Moustafa ◽  
Shimaa T. Abulkassem ◽  
...  
Keyword(s):  
Ischemic Stroke ◽  
Transcranial Magnetic Stimulation ◽  
Physical Therapy ◽  
Upper Limb ◽  
Magnetic Stimulation ◽  
Cortical Excitability ◽  
Low Frequency ◽  
Cortical Reorganization ◽  
Therapy Program ◽  
Physical Therapy Program

BACKGROUND: Cortical reorganization between both cerebral hemispheres plays an important role in regaining the affected upper extremity motor function post-stroke. OBJECTIVES: The purpose of the current study was to investigate the recommended number of contra-lesion low frequency repetitive transcranial magnetic stimulation (LF-rTMS) sessions that could enhance cortical reorganization post-stroke. METHODS: Forty patients with right hemiparetic subacute ischemic stroke with an age range between 50–65 yrs were randomly assigned into two equal groups: control (GA) and study (GB) groups. Both groups were treated with a selected physical therapy program for the upper limb. Sham and real contra-lesion LF-rTMS was conducted for both groups daily for two consecutive weeks. Sequential changes of cortical excitability were calculated by the end of each session. RESULTS: The significant enhancement in the cortical excitability was observed at the fourth session in favor of the study group (GB). Sequential rate of change in cortical excitability was significant for the first eight sessions. From the ninth session onwards, no difference could be detected between groups. CONCLUSION: The pattern of recovery after stroke is extensive and not all factors could be controlled. Application of LF-rTMS in conjugation with a selected physical therapy program for the upper limb from four to eight sessions seems to be efficient.

Sign in / Sign up

Export Citation Format

Share Document