scholarly journals External Robotic Arm vs. Upper Limb Exoskeleton: What Do Potential Users Need?

2019 ◽  
Vol 9 (12) ◽  
pp. 2471 ◽  
Author(s):  
Hyung Seok Nam ◽  
Han Gil Seo ◽  
Ja-Ho Leigh ◽  
Yoon Jae Kim ◽  
Sungwan Kim ◽  
...  
Keyword(s):  
Upper Limb ◽  
Robotic Arm ◽  
Functional Impairments ◽  
End User ◽  
Robotic Arms ◽  
Upper Limb Exoskeleton ◽  
Phone Calls ◽  
Survey Results ◽  
Robotic Devices ◽  
Bilateral Impairment

Robotic devices that practically assist activities of daily living (ADL) are scarce. The aim of this study was to investigate practical demands of potential users of external robotic arms and upper limb exoskeletons for assistance in ADL. A survey was performed in rehabilitation clinics in individuals with functional impairments in the upper extremity, divided into unilateral (UIG, n = 24) and bilateral impairment groups (BIG, n = 24). Descriptive analyses were performed for current dependency, objective importance, and subjective necessity of the 18 ADLs by using a 5-point Likert scale. Overall, handling foods, dressing, and moving close items were highly necessary functions for both robot types. The UIG demonstrated a high demand for self-exercise using exoskeletons, whereas one-hand ADLs showed low necessity. In the UIG, the exoskeleton had significantly higher demands than the external robotic arm in washing face (p = 0.005) and brushing teeth (p = 0.007). The subjects in the BIG replied that cleaning desks and eating are highly necessary abilities for the external robotic arm; and transfer and wheelchair control, for exoskeletons. In the BIG, the exoskeleton showed significantly higher necessity than the external robotic arms in dressing (p = 0.010), making phone calls (p = 0.026), using a smartphone (p = 0.011), and writing (p = 0.005). The practical demands of potential users were affected by laterality and robot type. Further robot developments should involve essential functions based on the survey results to meet end-user needs.

scholarly journals Hybrid Impedance-Admittance Control for Upper Limb Exoskeleton Using Electromyography

2020 ◽  
Vol 10 (20) ◽  
pp. 7146
Author(s):  
Lucas D. L. da Silva ◽  
Thiago F. Pereira ◽  
Valderi R. Q. Leithardt ◽  
Laio O. Seman ◽  
Cesar A. Zeferino
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Hybrid Control ◽  
Impedance Control ◽  
Robotic Arm ◽  
Average Error ◽  
Acceptable Error ◽  
Upper Limb Exoskeleton ◽  
Input Signals

Exoskeletons are wearable mobile robots that combine various technologies to enable limb movement with greater strength and endurance, being used in several application areas, such as industry and medicine. In this context, this paper presents the development of a hybrid control method for exoskeletons, combining admission and impedance control based on electromyographic input signals. A proof of concept of a robotic arm with two degrees of freedom, mimicking the functions of a human’s upper limb, was built to evaluate the proposed control system. Through tests that measured the discrepancy between the angles of the human joint and the joint of the exoskeleton, it was possible to determine that the system remained within an acceptable error range. The average error is lower than 4.3%, and the robotic arm manages to mimic the movements of the upper limbs of a human in real-time.

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 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

scholarly journals Tools and Techniques Used With Robotic Devices to Quantify Upper-Limb Function in Typically Developing Children: A Systematic Review

2020 ◽  
Vol 9 ◽  
pp. 117957272097901
Author(s):  
Stephan CD Dobri ◽  
Hana M Ready ◽  
Theresa Claire Davies
Keyword(s):  
Systematic Review ◽  
Outcome Measures ◽  
Motor Function ◽  
Upper Limb ◽  
Rate Of Change ◽  
Typically Developing ◽  
Typically Developing Children ◽  
Upper Limb Function ◽  
Robotic Devices ◽  
Tools And Techniques

Background: Robotic devices have been used to quantify function, identify impairment, and rehabilitate motor function extensively in adults, but less-so in younger populations. The ability to perform motor actions improves as children grow. It is important to quantify this rate of change of the neurotypical population before attempting to identify impairment and target rehabilitation techniques. Objectives: For a population of typically developing children, this systematic review identifies and analyzes tools and techniques used with robotic devices to quantify upper-limb motor function. Since most of the papers also used robotic devices to compare function of neurotypical to pathological populations, a secondary objective was introduced to relate clinical outcome measures to identified robotic tools and techniques. Methods: Five databases were searched between February 2019 and August 2020, and 226 articles were found, 19 of which are included in the review. Results: Robotic devices, tasks, outcome measures, and clinical assessments were not consistent among studies from different settings but were consistent within laboratory groups. Fifteen of the 19 articles evaluated both typically developing and pathological populations. Conclusion: To optimize universally comparable outcomes in future work, it is recommended that a standard set of tasks and measures is used to assess upper-limb motor function. Standardized tasks and measures will facilitate effective rehabilitation.

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