Untitled

Song, Zhibin

doi:10.5405/jmbe.987

Cited by 53 publications

(8 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The most complex sensing system is one that allows knowledge of the movement of the distal elements [ 152 ] of a limb to provide haptic interface input for the purpose of interaction with a real, virtual or distant environment. To simplify this sensing process, some authors [ 115 ], who noted the fact that the exoskeleton is integral to the body segments and that its joints have centers of instantaneous rotation quite coincident with the relative centers between the body segments, proposed to measure the motor torques of all the actuators to combine them to, thus, obtain an estimate of all the forces acting on the exoskeleton.…”

Section: Analytical Reviewmentioning

confidence: 99%

Sensors and Actuation Technologies in Exoskeletons: A Review

Tiboni

Borboni

Vérité

et al. 2022

Sensors

View full text Add to dashboard Cite

Exoskeletons are robots that closely interact with humans and that are increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance augmentation or as haptic devices. In the last few decades, the research activity on these robots has grown exponentially, and sensors and actuation technologies are two fundamental research themes for their development. In this review, an in-depth study of the works related to exoskeletons and specifically to these two main aspects is carried out. A preliminary phase investigates the temporal distribution of scientific publications to capture the interest in studying and developing novel ideas, methods or solutions for exoskeleton design, actuation and sensors. The distribution of the works is also analyzed with respect to the device purpose, body part to which the device is dedicated, operation mode and design methods. Subsequently, actuation and sensing solutions for the exoskeletons described by the studies in literature are analyzed in detail, highlighting the main trends in their development and spread. The results are presented with a schematic approach, and cross analyses among taxonomies are also proposed to emphasize emerging peculiarities.

show abstract

Section: Analytical Reviewmentioning

confidence: 99%

Sensors and Actuation Technologies in Exoskeletons: A Review

Tiboni

Borboni

Vérité

et al. 2022

Sensors

View full text Add to dashboard Cite

show abstract

“…Therefore, the exoskeleton devices should have the ability to adjust output impedance for generating both assistive and resistive forces. We previously designed an exoskeleton device on the elbow joint, and an improved impedance controller was implemented [34,35], as shown in Figure 3. The mechanism schematic is shown in Figure 3.…”

Section: Model For Patient-exoskeleton Interactionmentioning

confidence: 99%

A Telepresence System for Therapist-in-the-Loop Training for Elbow Joint Rehabilitation

Zhang

Guo

et al. 2019

Applied Sciences

View full text Add to dashboard Cite

This paper proposes a new robotic rehabilitation training platform that is motivated by the requirement for adjusting the training strategy and intensity in a patient-specific manner. The platform is implemented for tele-rehabilitation and is comprised of a haptic device operated by therapists, a lightweight exoskeleton worn by patients and a visually shared model. Through the visually shared model, the motion of the therapist and patient are measured and mapped to the motion of the corresponding object. Thus, the force generated by the therapist can be transferred to the patient for delivering training, while real-time force feedback with high transparency can be provided to the therapist so they know the amount of force being applied to patients in real time. In particular, both assistive therapy in the early stages and resistive therapy in the later stages of stroke can be performed. The home-use exoskeleton device is specifically designed to be light-weight and compliant for safety. The patient-exoskeleton and therapist-haptic interaction performance is evaluated by observing the muscle activities and interaction force. Two volunteers were requested to imitate the process of the therapist-in-the-loop training to evaluate the proposed platform.

show abstract

“…The force bandwidth of the exoskeleton device determines how much power the device assists or resists patients. The detailed information for controlling the exoskeleton device with an extended impedance method is illustrated below [28].…”

Section: System Overviewmentioning

confidence: 99%

“…Here, the angles of the upper limb motion can be determined via integration of kinematics of one upper limb and the haptic device [28]. It should be noted that in order to obtain a relatively accurate value, the motor pattern of the upper limb must be fixed, otherwise some parameter may vary while calculating the forward kinematics.…”

Section: System Overviewmentioning

confidence: 99%

Coordinative Motion-Based Bilateral Rehabilitation Training System with Exoskeleton and Haptic Devices for Biomedical Application

Zhang

Guo

et al. 2018

Micromachines

View full text Add to dashboard Cite

According to the neuro-rehabilitation theory, compared with unilateral training, bilateral training is proven to be an effective method for hemiparesis, which affects the most part of stroke patients. In this study, a novel bilateral rehabilitation training system, which incorporates a lightweight exoskeleton device worn on the affected limb; a haptic device (Phantom Premium), which is used for generating a desired tactile feedback for the affected limb; and a VR (virtual reality) graphic interface, has been developed. The use of VR technology during rehabilitation can provide goal directed tasks with rewards and motivate the patient to undertake extended rehabilitation. This paper is mainly focused on elbow joint training, and other independent joints can be trained by easily changing the VR training interface. The haptic device is adopted to enable patients to use their own decision making abilities with a tactical feedback. Integrated with a VR-based graphic interface, the goal-oriented task can help to gradually recovery their motor function with a coordinative motion between two limbs. In particular, the proposed system can accelerate neural plasticity and motor recovery in those patients with little muscle strength by using the exoskeleton device. The exoskeleton device can provide from relatively high joint impedance to near-zero impedance, and can provide a partial assist as the patient requires.

show abstract

Untitled

Cited by 53 publications

References 0 publications

Sensors and Actuation Technologies in Exoskeletons: A Review

Sensors and Actuation Technologies in Exoskeletons: A Review

A Telepresence System for Therapist-in-the-Loop Training for Elbow Joint Rehabilitation

Coordinative Motion-Based Bilateral Rehabilitation Training System with Exoskeleton and Haptic Devices for Biomedical Application

Contact Info

Product

Resources

About