A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation

Abstract

The developed exoskeleton device (Exorn) has ten degrees of freedom to control joints starting from shoulder griddle to wrist to provide better redundancy, portability, and flexibility to the human arm motion. A 3D conceptual model is being designed to make the system wearable by human arm. All the joints are simple revolute joints with desired motion limit. A Simulink model of the human arm is being developed with proper mass and length to determine proper torque required for actuating those joints. Forward kinematics of the whole system has been formulated for getting desired dexterous workspace. A proper and simple Graphical User Interface (GUI) and the required embedded system have been designed for providing physiotherapy lessons to the patients. In the literature review it has been found that researchers have generally ignored the motion of shoulder griddle. Here we have implemented those motions in our design. It has also been found that people have taken elbow pronation and supination motion as a part of shoulder internal and external rotation though both motions are quite different. A predefined resolved motion rate control structure with independent joint control is used so that all movements can be controlled in a predefined way.

A Review on Design of Upper Limb Exoskeletons

“…On the other hand, assistance is required to diminish disappointments towards the start of the treatment, in this way keeping up subject motivation, intensity of the therapy, and trust in utilizing the impaired limb and keeping away negative reinforcement [121]. If the result of the therapy is positive and the patient is going to regain their motor capability, then at that very moment, the control of the movements must be shared between the patient and the robot [122]. There has to be built-in mechanism in the robots that must allow the motor movement of the patient, no matter how little when they are recovering, without suppressing it.…”

Adaptive Algorithms as Control Strategies of Smart Upper Limb Orthosis: A Protocol for a Systematic Scoping Review

“…The user-centered design is one of the requirements of hardware and new technologies development (Manna and Bhaumik, 2013;Gupta et al, 2020). As the current devices are not sufficiently safe to operate physically with people with movement disorders (Chandrasiri et al, 2019), it is required that the system is adaptable to different individuals (Cheung et al, 2017) in order to avoid uncomfortable or unnatural posture, and has multiple degrees of freedom to provide better rehabilitation results (Gupta et al, 2020).…”

Mechatronic Device for Elbow Rehabilitation

“…The device has an architecture consisting of exoskeleton structure [18]. There are two vertical side plates fixed to a base support, between which, in the lower part, there is a direct drive brushless motor.…”