Configuration Design and Simulation of Exoskeleton for Upper Limb Rehabilitation Train

A new upper limb exoskeleton mechanical structure for rehabilitation train and electric putters were used to drive the upper limb exoskeleton and kinematics simulation was carried. According to the characteristics of upper limb exoskeleton, program control and master - slave control two different ways were presented. Motion simulation analysis had been done by Pro/E Mechanism, the motion data of electric putter and major joints had been extracted. Based on the analysis of the movement data it can effectively guide the electric putter control and analysis upper limb exoskeleton motion process.

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Improved Benchmarking Method Using Kinematics Analysis in Design of an Upper Limb Exoskeleton Rehabilitation Device

Volume 4: 23rd Design for Manufacturing and the Life Cycle Conference; 12th International Conference on Micro- and Nanosystems ◽

10.1115/detc2018-85465 ◽

2018 ◽

Author(s):

Yanlin Shi ◽

Qingjin Peng

Keyword(s):

Conceptual Design ◽

Upper Limb ◽

Quality Function Deployment ◽

New Product ◽

Design Parameters ◽

Kinematics Analysis ◽

Upper Limb Rehabilitation ◽

Upper Limb Exoskeleton ◽

Product Function ◽

Limb Rehabilitation

Conceptual design plays an important role in product development to meet requirements of the product function, cost and other factors. Existing methods of the product conceptual design rely on experience of designers or benchmarking methods to estimate design parameters, which limits the design automation and optimization. This paper improves the benchmarking methods by integrating the kinematics analysis with quality function deployment in design of an upper limb exoskeleton rehabilitation device. Parameters such as velocity, acceleration and displacement of the product are included for rating benchmarking products to evaluate the rehabilitation device based on customer needs. By integrating the benchmarking method and kinematics analysis, products with the best performance can be determined accurately to help designers to improve the existing product or develop a new product. The proposed method is verified in the design of an upper limb rehabilitation device.

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

Robotica ◽

10.1017/s0263574719001085 ◽

2019 ◽

Vol 37 (12) ◽

pp. 2073-2086 ◽

Cited By ~ 3

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.

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Comparative analysis of three categories of four-DOFs exoskeleton mechanism based on relative movement offsets

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-12-2020-0273 ◽

2021 ◽

Vol ahead-of-print (ahead-of-print) ◽

Author(s):

Qiang Cao ◽

Jianfeng Li ◽

Mingjie Dong

Keyword(s):

Upper Limb ◽

Reference Value ◽

Relative Movement ◽

Content Type ◽

Upper Limb Rehabilitation ◽

Upper Limb Exoskeleton ◽

Kinematic Characteristics ◽

Position Solution ◽

Limb Rehabilitation ◽

Selection Of

Purpose The purpose of this paper is to evaluate three categories of four-degrees of freedom (4-DOFs) upper limb rehabilitation exoskeleton mechanisms from the perspective of relative movement offsets between the upper limb and the exoskeleton, so as to provide reference for the selection of exoskeleton mechanism configurations. Design/methodology/approach According to the configuration synthesis and optimum principles of 4-DOFs upper limb exoskeleton mechanisms, three categories of exoskeletons compatible with upper limb were proposed. From the perspective of human exoskeleton closed chain, through reasonable decomposition and kinematic characteristics analysis of passive connective joints, the kinematic equations of three categories exoskeletons were established and inverse position solution method were addressed. Subsequently, three indexes, which can represent the relative movement offsets of human–exoskeleton were defined. Findings Based on the presented position solution and evaluation indexes, the joint displacements and relative movement offsets of the three exoskeletons during eating movement were compared, on which the kinematic characteristics were investigated. The results indicated that the second category of exoskeleton was more suitable for upper limb rehabilitation than the other two categories. Originality/value This paper has a certain reference value for the selection of the 4-DOFs upper extremity rehabilitation exoskeleton mechanism configurations. The selected exoskeleton can ensure the safety and comfort of stroke patients with upper limb dyskinesia during rehabilitation training.

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Design and Simulation Analysis of Rigid-Flexible Hybrid Upper Limb Rehabilitation Mechanism

Elderly Health Services and Remote Health Monitoring - SpringerBriefs in Applied Sciences and Technology ◽

10.1007/978-981-15-7154-1_5 ◽

2020 ◽

pp. 53-63

Author(s):

Lumin Chen ◽

Yihao Li ◽

Lina Han ◽

Liang Yuan ◽

Yuxiang Sun ◽

...

Keyword(s):

Upper Limb ◽

Simulation Analysis ◽

Upper Limb Rehabilitation ◽

Limb Rehabilitation

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The Analysis and Control of Exoskeleton Upper-Limb Rehabilitation Robot

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.572.619 ◽

2013 ◽

Vol 572 ◽

pp. 619-623 ◽

Cited By ~ 1

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.

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

Journal of Mechanisms and Robotics ◽

10.1115/1.4050150 ◽

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.

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