A 4-DOF Upper Limb Exoskeleton for Stroke Rehabilitation: Kinematics Mechanics and Control

Sutapun, Anan; Sangveraphunsiri, Viboon

doi:10.18178/ijmerr.4.3.269-272

Cited by 18 publications

(8 citation statements)

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“…To achieve backdrivability of the robot joints, the inertia of the corresponding robot segment must be lower than the reflected motor inertia (the product of the square of the transmission ratio and the inertia of the motor) [ 33 ]. The ranges of inertia of thigh, shank, and foot segments according to their minimum and maximum lengths are given in Table 5 .…”

Section: Lower Limb Rehabilitation Robotmentioning

confidence: 99%

A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities

Eiammanussakul

Sangveraphunsiri

2018

Journal of Healthcare Engineering

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Robots for stroke rehabilitation at the lower limbs in sitting/lying position have been developed extensively. Some of them have been applied in clinics and shown the potential of the recovery of poststroke patients who suffer from hemiparesis. These robots were developed to provide training at different joints of lower limbs with various activities and modalities. This article reviews the training activities that were realized by rehabilitation robots in literature, in order to offer insights for developing a novel robot suitable for stroke rehabilitation. The control system of the lower limb rehabilitation robot in sitting position that was introduced in the previous work is discussed in detail to demonstrate the behavior of the robot while training a subject. The nonlinear impedance control law, based on active assistive control strategy, is able to define the response of the robot with more specifications while the passivity property and the robustness of the system is verified. A preliminary experiment is conducted on a healthy subject to show that the robot is able to perform active assistive exercises with various training activities and assist the subject to complete the training with desired level of assistance.

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Section: Lower Limb Rehabilitation Robotmentioning

confidence: 99%

A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities

Eiammanussakul

Sangveraphunsiri

2018

Journal of Healthcare Engineering

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“…With the passage of time, patients regain their lost motor function, therefore exoskeleton must allow patients when they are able to move their limb on own effort. The CADEN-7, a 4 DOF exoskeleton and ABLE exoskeleton are backdriveable [63,65,101].…”

Section: Backdriveabilitymentioning

confidence: 99%

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

et al. 2017

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The number of disabled individuals due to stroke is increasing day by day and is projected to continue increasing at an alarming rate in United States. But the current amount of health professionals in physical therapy is inadequate to provide rehabilitation to these large groups. From early 1990s, researchers have been trying to develop an easy and feasible solution to this problem and lot of assistive devices both end effector type or exoskeleton type have been developed till to date. However, only a few of them have been commercialized and are being used in rehabilitation of post-stroke patients. Making the use of exoskeletons and other devices to regain lost motor function is rare. Providing therapy to this large group is quite impossible without commercializing of exoskeleton. This has motivated the authors to make a literature review and figure the reasons out that need to be solved to bridge the gap between research prototype to commercial version. This paper covers the necessity of incorporating robotic devices in rehabilitation, a brief description of existing devices particularly upper limb exoskeletons, their hardware limitations, and control issues. Our review shows that there are significant flaws in hardware design and developing control algorithm of exoskeletons to be available in rehabilitation program.

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“…More detail about coordinate assignment can consult in [22,23]. The forward kinematic was described as detailed in [12]. Each joint variable can be measured from an encoder attached to each joint.…”

Section: -Dof Upper Limb Exoskeleton Robot For Stroke Rehabilitationmentioning

confidence: 99%

“…The advantage of this configuration is that we can relate the robot joints motion to the motion of the joints of the patient's limb. [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

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A Novel Design and Implementation of a 4-DOF Upper Limb Exoskeleton for Stroke Rehabilitation with Active Assistive Control Strategy

Sutapun¹,

Sangveraphunsiri²

2017

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Abstract. We developed a robot, CUREs (Chulalongkorn University Rehabilitation Robotic Exoskeleton system), for upper extremity rehabilitation. The active assistive control strategy based on the impedance force control is developed and implemented to obtain assistive-resistive paths tracking for rehabilitation activities. The desired trajectory or rehabilitated training pattern for each specific patient need to be assigned first by a medical doctor and a physical therapy. The therapist can program the desired trajectory by guiding the patient arm based on the assigned path pattern and the set of via points will be stored and used for generating the desired trajectory. The desired trajectory will be stored specific for the patient and can be called back anytime. During the rehabilitation, the robot can assist and resist the patient's arm to follow the desired trajectory. If the patient has difficulty moving his arm to track the desired path, the robot will help by adding more torque to help the patient to move his arm to reduce the error between the desired path and the actual posture. And if the patient himself can move his arm tracking the desired path, the robot will not apply any more force to assist or resist. The necessary state variables such as angular position and torque can be recorded during the training. The main purpose of the experiment, follow the medical ethic, is to assure that there is no side effect for using this rehabilitation robot. Five subacute stroke patients participated in this pilot study. All patients have severe upper extremity weakness. The medical doctor will assign the training pattern based on patient condition. The result showed that the Fugl-Meyer Assessment Upper Extremity Scale was improved after 10 days of training in all participants without any sign of side effect.

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A 4-DOF Upper Limb Exoskeleton for Stroke Rehabilitation: Kinematics Mechanics and Control

Cited by 18 publications

References 0 publications

A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities

A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

A Novel Design and Implementation of a 4-DOF Upper Limb Exoskeleton for Stroke Rehabilitation with Active Assistive Control Strategy

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