An Upper Limb Exoskeleton for Pinpointed Muscular Exercises With Overextension Injury Prevention

2010 ◽  
Author(s):  
Tzong-Ming Wu ◽  
Shu-Yi Wang ◽  
Dar-Zen Chen
Keyword(s):  
Upper Limb ◽  
Elbow Joint ◽  
Whole Body ◽  
Shoulder Abduction ◽  
Muscle Training ◽  
Joint Torques ◽  
Upper Limb Exoskeleton ◽  
Free Weight ◽  
Flexion Extension ◽  
Muscle Groups

Over-automated equipments and modern city life style lead to the diminishing opportunities for muscle using; however, the comfortable life is not always good for human health, and appropriate muscle training can not only enhance muscular strength and endurance but improve the health and fitness. Different kinds of ideas have been proposed for muscle training by exercise machines, which control direction of resistance for safety sake but isolate specific muscle groups to be trained. Compared with machines, free-weight exercise is a whole-body training in which human limbs can be moved on different planes to train more muscle groups. In this study, an upper limb exoskeleton design is proposed for free-weight exercise to strengthen the principal muscles of upper limb and shoulder. The upper limb exoskeleton is constituted of 3-DOF shoulder joint and 1-DOF elbow joint. The joint torques of shoulder and elbow joint of the exoskeleton match the objective joint torques from a model of free-weight exercise. The principal muscles of human arm and shoulder are training by dumbbell lateral raise, dumbbell frontal raise, dumbbell curl motion, and overhead triceps extension motion. With the arrangement of small-inertia springs, the exoskeleton is capable of preventing the muscle from injuries caused by the huge inertia change. The evaluation of the model was conducted by using isokinetic dynamometer to measure shoulder abduction-adduction, shoulder flexion-extension, and elbow flexion-extension for the male and female adults, and the results matched with the data obtained from the derived model.

The Analysis and Control of Exoskeleton Upper-Limb Rehabilitation Robot

2013 ◽  
Vol 572 ◽  
pp. 619-623 ◽  
Author(s):  
Lan Wang ◽  
Zheng Qian Yin ◽  
Yuan Hang Sun
Keyword(s):  
Upper Limb ◽  
Shoulder Abduction ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Upper Limb Exoskeleton ◽  
Revolute Joints ◽  
Shoulder Flexion ◽  
Flexion Extension ◽  
Active Rehabilitation ◽  
Limb Rehabilitation

Based on the analysis of the methods for upper limb rehabilitation training, an anthropomorphic upper-limb exoskeleton was developed. Anatomical and physiological characteristics and upper limb joint ranges of motion are also considered. The rehabilitation robot is achieved by 4 single-axis revolute joints which are shoulder abduction-adduction (abd-add), shoulder flexion-extension (flx-ext), elbow flx-ext and wrist flx-ext. Kinematics and dynamics analysis of the rehabilitation robot are made. The passive rehabilitation mode and active rehabilitation mode are researched, and the result of experenment is shown that the robot can finish the rehabilitation task well.

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

scholarly journals Measures of Interjoint Coordination Post-stroke Across Different Upper Limb Movement Tasks

2021 ◽  
Vol 8 ◽  
Author(s):  
Anne Schwarz ◽  
Janne M. Veerbeek ◽  
Jeremia P. O. Held ◽  
Jaap H. Buurke ◽  
Andreas R. Luft
Keyword(s):  
Upper Limb ◽  
Elbow Flexion ◽  
Shoulder Abduction ◽  
Kinematic Parameters ◽  
Limb Function ◽  
Interjoint Coordination ◽  
Upper Limb Function ◽  
Shoulder Flexion ◽  
Flexion Extension ◽  
Median Slope

Background: Deficits in interjoint coordination, such as the inability to move out of synergy, are frequent symptoms in stroke subjects with upper limb impairments that hinder them from regaining normal motor function. Kinematic measurements allow a fine-grained assessment of movement pathologies, thereby complementing clinical scales, like the Fugl–Meyer Motor Assessment of the Upper Extremity (FMMA-UE). The study goal was to investigate the effects of the performed task, the tested arm, the dominant affected hand, upper limb function, and age on spatiotemporal parameters of the elbow, shoulder, and trunk. The construct validity of the metrics was examined by relating them with each other, the FMMA-UE, and its arm section.Methods: This is a cross-sectional observational study including chronic stroke patients with mild to moderate upper limb motor impairment. Kinematic measurements were taken using a wearable sensor suit while performing four movements with both upper limbs: (1) isolated shoulder flexion, (2) pointing, (3) reach-to-grasp a glass, and (4) key insertion. The kinematic parameters included the joint ranges of shoulder abduction/adduction, shoulder flexion/extension, and elbow flexion/extension; trunk displacement; shoulder–elbow correlation coefficient; median slope; and curve efficiency. The effects of the task and tested arm on the metrics were investigated using a mixed-model analysis. The validity of metrics compared to clinically measured interjoint coordination (FMMA-UE) was done by correlation analysis.Results: Twenty-six subjects were included in the analysis. The movement task and tested arm showed significant effects (p < 0.05) on all kinematic parameters. Hand dominance resulted in significant effects on shoulder flexion/extension and curve efficiency. The level of upper limb function showed influences on curve efficiency and the factor age on median slope. Relations with the FMMA-UE revealed the strongest and significant correlation for curve efficiency (r = 0.75), followed by shoulder flexion/extension (r = 0.68), elbow flexion/extension (r = 0.53), and shoulder abduction/adduction (r = 0.49). Curve efficiency additionally correlated significantly with the arm subsection, focusing on synergistic control (r = 0.59).Conclusion: The kinematic parameters of the upper limb after stroke were influenced largely by the task. These results underpin the necessity to assess different relevant functional movements close to real-world conditions rather than relying solely on clinical measures.Study Registration: clinicaltrials.gov, identifier NCT03135093 and BASEC-ID 2016-02075.

scholarly journals Measuring Upper Limb Kinematics of Forehand and Backhand Topspin Drives with IMU Sensors in Wheelchair and Able-Bodied Table Tennis Players

Sensors ◽  
2021 ◽  
Vol 21 (24) ◽  
pp. 8303
Author(s):  
Jia-Wen Yam ◽  
Jing-Wen Pan ◽  
Pui-Wah Kong
Keyword(s):  
Upper Limb ◽  
Wrist Joint ◽  
Elbow Flexion ◽  
Measurement Unit ◽  
Shoulder Abduction ◽  
Table Tennis ◽  
Tennis Players ◽  
Movement Strategies ◽  
Flexion Extension ◽  
Limb Kinematics

To better understand the biomechanics of para-table tennis players, this study compared the shoulder, elbow, and wrist joint kinematics among able-bodied (AB) and wheelchair players in different classifications. Nineteen participants (AB, n = 9; classification 1 (C1), n = 3; C2, n = 3; C3, n = 4) executed 10 forehand and backhand topspin drives. Shoulder abduction/adduction, elbow flexion/extension, wrist extension/flexion, respective range of motion (ROM), and joint patterns were obtained using inertial measurement unit (IMU) sensors. The results showed clear differences in upper limb kinematics between the able-bodied and wheelchair players, especially in the elbow and wrist. For the para-players, noticeable variations in techniques were also observed among the different disability classes. In conclusion, wheelchair players likely adopted distinct movement strategies compared to AB to compensate for their physical impairments and functional limitations. Hence, traditional table tennis programs targeting skills and techniques for able-bodied players are unsuitable for para-players. Future work can investigate how best to customize training programs and to optimize movement strategies for para-players with varied types and degrees of impairment.

scholarly journals Multi-connection load compensation and load information calculation for an upper-limb exoskeleton based on a six-axis force/torque sensor

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141986318 ◽  
Author(s):  
Xin Wang ◽  
Qiuzhi Song ◽  
Shitong Zhou ◽  
Jing Tang ◽  
Kezhong Chen ◽  
...  
Keyword(s):  
Upper Limb ◽  
Interaction Force ◽  
Center Of Gravity ◽  
Human Robot Interaction ◽  
Whole Body ◽  
Torque Sensor ◽  
Robot Interaction ◽  
End Effector ◽  
Load Compensation ◽  
Upper Limb Exoskeleton

In this article, a method of multi-connection load compensation and load information calculation for an upper-limb exoskeleton is proposed based on a six-axis force/torque sensor installed between the exoskeleton and the end effector. The proposed load compensation method uses a mounted sensor to measure the force and torque between the exoskeleton and load of different connections and adds a compensator to the controller to compensate the component caused by the load in the human–robot interaction force, so that the human–robot interaction force is only used to operate the exoskeleton. Therefore, the operator can manipulate the exoskeleton with the same interaction force to lift loads of different weights with a passive or fixed connection, and the human–robot interaction force is minimized. Moreover, the proposed load information calculation method can calculate the weight of the load and the position of its center of gravity relative to the exoskeleton and end effector accurately, which is necessary for acquiring the upper-limb exoskeleton center of gravity and stability control of whole-body exoskeleton. In order to verify the effectiveness of the proposed method, we performed load handling and operational stability experiments. The experimental results showed that the proposed method realized the expected function.

Design and Modelling 4 DOFs Upper Limb Exoskeleton

2016 ◽  
Vol 823 ◽  
pp. 107-112
Author(s):  
Dan Mândru ◽  
Olimpiu Tǎtar ◽  
Simona Noveanu ◽  
Alexandru Ianoşi-Andreeva-Dimitrova
Keyword(s):  
Upper Limb ◽  
Kinematic Analysis ◽  
Shoulder Joint ◽  
Elbow Joint ◽  
3D Model ◽  
Robotic Rehabilitation ◽  
Upper Limb Exoskeleton ◽  
Rehabilitation System ◽  
Wearable Exoskeleton

Based on upper limb’s biomechanisms, in this paper, a robotic rehabilitation system is presented. It is designed as a 4 DOFs wearable exoskeleton applicable for repetitive practice of passive or active movements of the arm in shoulder joint and forearm in elbow joint. The kinematic analysis of the proposed system is followed by the 3D model and a description of the developed prototype.

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

2014 ◽  
Vol 601 ◽  
pp. 163-166 ◽  
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.

Particularities of Upper Limb Movements of Healthy and Pathologic Subjects

2013 ◽  
Vol 430 ◽  
pp. 203-207
Author(s):  
Mirela Toth-Taşcău ◽  
Flavia Bălănean ◽  
Dan Ioan Stoia
Keyword(s):  
Upper Limb ◽  
Elbow Joint ◽  
Distal Humerus ◽  
Joint Angles ◽  
Kinematic Parameters ◽  
Angle Variation ◽  
Flexion Extension ◽  
Upper Limb Movements ◽  
Left And Right ◽  
Time Standard

The paper presents a comparative study of the kinematic parameters of the upper limbs of one healthy subject and one patient with lateral distal humerus implant. This study aims to identify the movement patterns of the upper limb joints, having a particular interest in elbow joint, due to the patients pathology. Both subjects have been recorded in identical conditions, performing the same exercise what simulates one of the common daily activities. The kinematic parameters which have been analyzed were flexion-extension and abduction-adduction in shoulder joint and flexion-extension of the elbow joint. The joint angles have been averaged per each valid trial and exercise. The comparison of the joint angle variation was performed in terms of normalized time. Standard deviation was computed to evaluate the variability of joint angles. Movement symmetry between left and right arms was evaluated by computing the p-values of the averaged series.

scholarly journals Implementation of an Upper-Limb Exoskeleton Robot Driven by Pneumatic Muscle Actuators for Rehabilitation

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 106
Author(s):  
Chun-Ta Chen ◽  
Wei-Yuan Lien ◽  
Chun-Ting Chen ◽  
Yu-Cheng Wu
Keyword(s):  
Upper Limb ◽  
Elbow Joint ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Pneumatic Muscle ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Fuzzy Sliding Mode ◽  
Steel Cables ◽  
Muscle Actuators

Implementation of a prototype of a 4-degree of freedom (4-DOF) upper-limb exoskeleton robot for rehabilitation was described in this paper. The proposed exoskeleton robot has three DOFs at the shoulder joint and one DOF at the elbow joint. The upper-limb exoskeleton robot is driven by pneumatic muscle actuators (PMA) via steel cables. To implement the passive rehabilitation control, the rehabilitation trajectories expressed in the Fourier series were first planned by the curve fitting. The fuzzy sliding mode controller (FSMC) was then applied to the upper-limb exoskeleton robot for rehabilitation control. Several rehabilitation scenarios were carried out to validate the designed PMA-actuated exoskeleton robot.

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