A novel hardware approach to integrating active and passive rehabilitation in a single exoskeleton

Manna, Soumya K.; Dubey, Venketesh N.

doi:10.1109/ismr.2018.8333295

Cited by 1 publication

(3 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The required joint torque of elbow will increase with the joint stiffness. Therefore, ∝ ′ (16) In this rehabilitation mode, = If patients can overcome the resistive force by engaging with more joint torque, it shows the sign of recovery. In this mode of rehabilitation, the increment of the distance (∆ ) traveled by the nut slider is proportional to the difference between the desired torque ( ) and the present joint torque ( ) shown in Fig.…”

Section: Resistive Modementioning

confidence: 99%

“…In the designed mechanism, the range of the nut slider in this rehabilitation mode is 0 to 0.18 m which can generate a rotation angle of 135 0 at the elbow joint. The torque analysis of the leadscrew based sliding motion can be derived from the leadscrew mechanism 16 (Fig. 8).…”

Section: Electric Motor Controlled Modementioning

confidence: 99%

“…Considering the frictional force between the nut slider and leadscrew, the required motor torque (τ) can be given by 16 = 1 cos (cos + sin tan( − )) 1 2 cos( − )…”

Section: Figure 8 Mechanism Under Motor Controlmentioning

confidence: 99%

See 2 more Smart Citations

Rehabilitation strategy for post-stroke recovery using an innovative elbow exoskeleton

Manna

Dubey

2019

Proc Inst Mech Eng H

View full text Add to dashboard Cite

Intensive and adaptive rehabilitation therapy is beneficial for post-stroke recovery. Three modes of rehabilitation are generally performed at different stages after stroke: external force-based control in the acute stage, assistive force-based rehabilitation in the midway of recovery and resistive force-based rehabilitation in the last stage. To achieve the above requirements, an innovative elbow exoskeleton has been developed to incorporate the three modes of rehabilitation in a single structure. The structure of the exoskeleton has been designed in such a way that the whole working region is divided into three where each region can provide a different mode of rehabilitation. Recovery rate can be varied for individuals since it depends on various parameters. To evaluate the rate of recovery, three joint parameters have been identified: range of angular movement, angular velocity and joint torque. These parameters are incorporated into the framework of planning a novel rehabilitation strategy, which is discussed in this article along with the structural description of the designed exoskeleton.

show abstract

Section: Resistive Modementioning

confidence: 99%

Section: Electric Motor Controlled Modementioning

confidence: 99%