UPPER LIMB POWERED EXOSKELETON

2007 ◽  
Vol 04 (03) ◽  
pp. 529-548 ◽  
Author(s):  
JACOB ROSEN ◽  
JOEL C. PERRY
Keyword(s):  
Virtual Reality ◽  
Upper Limb ◽  
Wrist Joint ◽  
Rehabilitation Medicine ◽  
Assistive Device ◽  
Virtual Reality Simulation ◽  
Wearable Robot ◽  
Human Power ◽  
Potential Applications ◽  
Powered Exoskeleton

An exoskeleton is a wearable robot with joints and links corresponding to those of the human body. With applications in rehabilitation medicine, virtual reality simulation, and teleoperation, exoskeletons offer benefits for both disabled and healthy populations. Analytical and experimental approaches were used to develop, integrate, and study a powered exoskeleton for the upper limb and its application as an assistive device. The kinematic and dynamic dataset of the upper limb during daily living activities was one among several factors guiding the development of an anthropomorphic, seven degree-of-freedom, powered arm exoskeleton. Additional design inputs include anatomical and physiological considerations, workspace analyses, and upper limb joint ranges of motion. Proximal placement of motors and distal placement of cable-pulley reductions were incorporated into the design, leading to low inertia, high-stiffness links, and back-drivable transmissions with zero backlash. The design enables full glenohumeral, elbow, and wrist joint functionality. Establishing the human-machine interface at the neural level was facilitated by the development of a Hill-based muscle model (myoprocessor) that enables intuitive interaction between the operator and the wearable robot. Potential applications of the exoskeleton as a wearable robot include (i) an assistive (orthotic) device for human power amplifications, (ii) a therapeutic and diagnostics device for physiotherapy, (iii) a haptic device in virtual reality simulation, and (iv) a master device for teleoperation.

Virtual Reality Simulation of 5dof Upper-Limb Rehabilitation Robot Based on Fuzzy Neural Network

2011 ◽  
Vol 48-49 ◽  
pp. 1345-1350
Author(s):  
Xing Li ◽  
Jian Hui Wang ◽  
Xiao Ke Fang
Keyword(s):  
Neural Network ◽  
Virtual Reality ◽  
Upper Limb ◽  
Evaluation System ◽  
Fuzzy Neural Network ◽  
Rehabilitation Robot ◽  
Virtual Reality Simulation ◽  
Upper Limb Rehabilitation ◽  
Fuzzy Neural ◽  
Limb Rehabilitation

In this paper, aiming at the structure of upper-limb rehabilitation robot, establish the model of algorithmic control based on fuzzy neural network and virtual reality simulation model for 5dof upper-limb rehabilitant robot, and take the elbow joint for example to do simulation analysis. The result of simulation shows the fuzzy neural network control is practicable and its control accuracy takes the precedence over the traditional methods. The virtual-reality simulation of 5dof upper-limb rehabilitation robot, which is benefit to understand the complex relationships among the objects, can emulate the features of real rehabilitation robot, laying a solid foundation for rehabilitation evaluation system and telemedicine.

The application of virtual reality in health professions� digital education: a narrative review (Preprint)

2018 ◽  
Author(s):  
Lorraine Tudor Car ◽  
Bhone Myint Kyaw ◽  
Josip Car
Keyword(s):  
Virtual Reality ◽  
Professional Education ◽  
Health Professions ◽  
Health Professions Education ◽  
Narrative Review ◽  
Current Evidence ◽  
Future Research ◽  
Educational Content ◽  
Potential Applications

BACKGROUND Digital technology called Virtual Reality (VR) is increasingly employed in health professions’ education. Yet, based on the current evidence, its use is narrowed around a few most applications and disciplines. There is a lack of an overview that would capture the diversity of different VR applications in health professions’ education and inform its use and research. OBJECTIVE This narrative review aims to explore different potential applications of VR in health professions’ education. METHODS The narrative synthesis approach to literature review was used to analyse the existing evidence. RESULTS We outline the role of VR features such as immersion, interactivity and feedback and explain the role of VR devices. Based on the type and scope of educational content VR can represent space, individuals, objects, structures or their combination. Application of VR in medical education encompasses environmental, organ and micro level. Environmental VR focuses on training in relation to health professionals’ environment and human interactions. Organ VR educational content targets primarily human body anatomy; and micro VR microscopic structures at the level of cells, molecules and atoms. We examine how different VR features and health professional education areas match these three VR types. CONCLUSIONS We conclude by highlighting the gaps in the literature and providing suggestions for future research.

scholarly journals Virtual Reality in Neurorehabilitation: An Umbrella Review of Meta-Analyses

2021 ◽  
Vol 10 (7) ◽  
pp. 1478
Author(s):  
Alexandra Voinescu ◽  
Jie Sui ◽  
Danaë Stanton Fraser
Keyword(s):  
Virtual Reality ◽  
Cerebral Palsy ◽  
Brain Injury ◽  
Upper Limb ◽  
Umbrella Review ◽  
High Quality ◽  
Quality Of Evidence ◽  
Upper Limb Function ◽  
Meta Analyses

Neurological disorders are a leading cause of death and disability worldwide. Can virtual reality (VR) based intervention, a novel technology-driven change of paradigm in rehabilitation, reduce impairments, activity limitations, and participation restrictions? This question is directly addressed here for the first time using an umbrella review that assessed the effectiveness and quality of evidence of VR interventions in the physical and cognitive rehabilitation of patients with stroke, traumatic brain injury and cerebral palsy, identified factors that can enhance rehabilitation outcomes and addressed safety concerns. Forty-one meta-analyses were included. The data synthesis found mostly low- or very low-quality evidence that supports the effectiveness of VR interventions. Only a limited number of comparisons were rated as having moderate and high quality of evidence, but overall, results highlight potential benefits of VR for improving the ambulation function of children with cerebral palsy, mobility, balance, upper limb function, and body structure/function and activity of people with stroke, and upper limb function of people with acquired brain injury. Customization of VR systems is one important factor linked with improved outcomes. Most studies do not address safety concerns, as only nine reviews reported adverse effects. The results provide critical recommendations for the design and implementation of future VR programs, trials and systematic reviews, including the need for high quality randomized controlled trials to test principles and mechanisms, in primary studies and in meta-analyses, in order to formulate evidence-based guidelines for designing VR-based rehabilitation interventions.

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.

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