A Force-Feedback Exoskeleton for Upper-Limb Rehabilitation in Virtual Reality

Frisoli, Antonio; Salsedo, F.; Bergamasco, Massimo; Rossi, Bruno; Carboncini, Maria Chiara

doi:10.1155/2009/378254

Cited by 67 publications

(55 citation statements)

References 19 publications

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“…In MEDARM, a cable driven system is proposed to deal with the effect of shoulder ICR movement [118]. Without using any additional mechanism, some research groups solved joint alignment and shoulder translation complexities by keeping trunk moveable [78,101]. The aforementioned approaches were applied to make shoulder and elbow aligned with the mechatronic structure of exoskeleton as closely as possible.…”

Section: Past Workmentioning

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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Section: Past Workmentioning

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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“…It uses DC motors with a cable transmission system for actuation. The authors of PERCRO have developed arm exoskeletons for haptic interaction with virtual environments L-Exos [3,4]. This is a five-DoF exoskeleton with a wearable structure and anthropomorphic workspace that can cover the full range of motion of a human arm.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, the use of exoskeletons as Haptic device significantly increased due to the development of applications related to interaction in virtual environments [2,3,4]. Haptic or force-reflecting interfaces are devices used to display touch or force-related sensory information from a virtual or remote environment to the user [2].…”

Section: Introductionmentioning

confidence: 99%

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Simulations and experimental evaluation of an active orthosis for interaction in virtual environments

et al. 2018

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Abstract. In this work, the development of a human arm active orthosis is presented. The orthosis is designed primarily for training and rehabilitation in virtual environments.The orthosis system is intended for embodiment in virtual reality where it is allowing human to perceive forces at different body parts or the weight of lifted objects. In the paper the choice of a mechanical structure is shown equivalent to the structure of the human arm. A mechanical model of the orthosis arm as haptic device is built, where kinematic and dynamic parameters are evaluated. Impedance control scheme is selected as the most suitable for force refection at the hand or arm. An open-loop impedance controller is presented in the paper. Computer experiments are carried out using the dimensions of a real arm orthosis. Computer experiments have been carried out to provide force reflection by VR, according to virtual scenario. The conducted simulations show the range of the forces on the operator hand, orthosis can provide. The results of additional measurements and experimental evaluations of physical quantities in the interaction in a virtual environment are revealed in the paper.

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“…VR can provide an even more stimulating video game-like rehabilitation environment when integrated with force feedback devices, thus enhancing the quality of the rehabilitation. 7 An upper limb force feedback exoskeleton for robotic assisted rehabilitation in VR is presented in Frisoli et al 8 A specific VR application focused on the reaching task was developed and evaluated in the system, but the system can't provide adjustment when the reaching is far away too much. And little details are given to the control aspects of the robotic exoskeleton.…”

Section: Introductionmentioning

confidence: 99%

A motion intention-based upper limb rehabilitation training system to stimulate motor nerve through virtual reality

Wang

2017

International Journal of Advanced Robotic Systems

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Motor rehabilitation strategies for treating motor deficits after stroke are based on the understanding of the neural plasticity. In recent years, various upper limb rehabilitation robots have been proposed for the stroke survivors to provide relearning of motor skills by stimulating the motor nerve. However, several aspects including costing, human-robot interaction, and effective stimulation of motor nerve still remain as major issues. In this article, a new upper limb rehabilitation training system named as motion intention-based virtual reality training system is developed to close the aforementioned issues. The system identifies the user's motion intention via force sensors mounted on the rehabilitation robot to conduct therapeutic exercises and stimulates the user's motor nerve by introducing the illusion of immersion in virtual reality environment. The illusion of immersion is developed by creating Virtual Exoskeleton Robot model which is driven by user's motion intention and reflecting the motion states in real time. The users can be present to the training exercises by themselves and fully engage in the virtual reality environment, so that they can relax, move, and recreate motor neuro-pathways. As preliminary phase, six healthy subjects were invited to participate in experiments. The experimental results showed that the motion intention-based virtual reality training system is effective for the upper limb rehabilitation exoskeleton and the evaluations of the developed system showed a significant reduction of the performance error in the training task.

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A Force-Feedback Exoskeleton for Upper-Limb Rehabilitation in Virtual Reality

Cited by 67 publications

References 19 publications

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

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

Simulations and experimental evaluation of an active orthosis for interaction in virtual environments

A motion intention-based upper limb rehabilitation training system to stimulate motor nerve through virtual reality

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