Design and evaluation of a 3-degree-of-freedom upper limb rehabilitation exoskeleton robot

2017 ◽  
Author(s):  
Baofeng Gao ◽  
Hongdao Ma ◽  
Shuxiang Guo ◽  
Hao Xu ◽  
Shu Yang
Keyword(s):  
Upper Limb ◽  
Degree Of Freedom ◽  
Upper Limb Rehabilitation ◽  
Exoskeleton Robot ◽  
Limb Rehabilitation

Kinematic Design Optimization of an Eight Degree-of-Freedom Upper-Limb Exoskeleton

Robotica ◽  
2019 ◽  
Vol 37 (12) ◽  
pp. 2073-2086 ◽  
Author(s):  
Amin Zeiaee ◽  
Rana Soltani-Zarrin ◽  
Reza Langari ◽  
Reza Tafreshi
Keyword(s):  
Upper Limb ◽  
Optimization Problem ◽  
Degree Of Freedom ◽  
Upper Limb Rehabilitation ◽  
Upper Limb Exoskeleton ◽  
Wearable Robots ◽  
Design Variables ◽  
Final Design ◽  
Limb Rehabilitation

SummaryThis paper studies the problem of optimizing the kinematic structure of an eight degree-of-freedom upper-limb rehabilitation exoskeleton. The objective of optimization is achieving minimum volume and maximum dexterity in the workspace of daily activities specified by a set of upper-arm configurations. To formulate the problem, a new index is proposed for effective characterization of kinematic dexterity for wearable robots. Additionally, a set of constraints are defined to ensure that the optimal design can cover the desired workspace of the exoskeleton, while singular configurations and physical interferences are avoided. The formulated multi-objective optimization problem is solved using an evolutionary algorithm (Non-dominated Sorting Genetic Algorithm II) and the weighted sum approach. Among the resulted optimal points, the point with least sensitivity with respect to the variations of design variables is chosen as the final design.

A NOVEL MULTI-DOF EXOSKELETON ROBOT FOR UPPER LIMB REHABILITATION

2016 ◽  
Vol 16 (08) ◽  
pp. 1640023 ◽  
Author(s):  
LIN LIU ◽  
YUN-YONG SHI ◽  
LE XIE
Keyword(s):  
Upper Limb ◽  
Passive Movement ◽  
Joint Movement ◽  
Upper Limb Rehabilitation ◽  
Sitting Posture ◽  
Rehabilitation Training ◽  
Exoskeleton Robot ◽  
Motion Function ◽  
Custom Made ◽  
Limb Rehabilitation

Patients who suffer from stroke have motion function disorders. They need rehabilitation training guided by doctors and trainers. Nowadays, robots have been introduced to help the patients regain their motion function in rehabilitation training. In this paper, a novel multi degree of freedom (DOF) exoskeleton robot, with light weight, including (6[Formula: see text]1) DOFs, named as Rehab-Arm, is proposed and developed for upper limb rehabilitation. The joints of the robot are equipped with micro motors which are capable of actuating each DOF respectively and simultaneously. The medial/lateral rotation of shoulder is realized by a semi-circle guide mechanism for convenience consideration and safety. The robot is used in sitting posture which is attached to a custom made chair. Hence, the robot can be used to assist patients in passive movement with 7 DOFs of the upper limb for rehabilitation. Five adult healthy male subjects participated in the experiment to test the joint movement accuracy of the robot. Finally, subjects can wear Rehab-Arm and move their upper limb, led by micro motors of the robot, to perform task assigned with specific trajectory.

Design of a Single-Degree-of-Freedom Immersive Rehabilitation Device for Clustered Upper-Limb Motion

2021 ◽  
Vol 13 (3) ◽  
Author(s):  
Ping Zhao ◽  
Yating Zhang ◽  
Haiwei Guan ◽  
Xueting Deng ◽  
Haodong Chen
Keyword(s):  
Upper Limb ◽  
Daily Basis ◽  
Integrated System ◽  
Degree Of Freedom ◽  
Motion Patterns ◽  
Upper Limb Rehabilitation ◽  
Motion Data ◽  
Mechanical Devices ◽  
Limb Rehabilitation ◽  
Body Parameters

Abstract Mechanical devices such as robots are widely adopted for limb rehabilitation. Due to the variety of human body parameters, the rehabilitation motion for different patients usually has its individual pattern; hence, we adopt clustering-based machine learning technique to find a limited number of motion patterns for upper-limb rehabilitation, so that they could represent the large amount of those from people who have various body parameters. By using the regression motion of the clustering result as the target, in this article, we seek to apply kinematic mapping-based motion synthesis framework to design a 1-degree-of-freedom (DOF) mechanism, such that it could lead the patients’ upper limb through the target motion. Also, considering rehab training generally involves a large amount of repetition on a daily basis, this article has developed a rehab system with unity3d based on virtual reality (VR). The proposed device and system could provide an immersive experience to the users, as well as the rehab motion data to the administrative staff for evaluation of users’ status. The construction of the integrated system and the experimental trial of the prototype are presented at the end of this article.

Sign in / Sign up

Export Citation Format

Share Document