A Portable Elbow Exoskeleton for Three Stages of Rehabilitation

Manna, Soumya K.; Dubey, Venketesh N.

doi:10.1115/1.4044535

Cited by 14 publications

(3 citation statements)

References 18 publications

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“…In recent years, research on rehabilitation and wearable devices used by individuals with physical disabilities and older adults has expanded [1][2][3][4][5][6]. These devices must maintain a high level of safety as they are designed for contact with people.…”

Section: Introductionmentioning

confidence: 99%

Development of a smart artificial muscle using optical fibres

Tian,

Wakimoto,

Yamaguchi

et al. 2024

Smart Mater. Struct.

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A McKibben artificial muscle is a fluid-driven soft actuator comprising sleeve fibers and rubber tube. However, as typical bulky and rigid displacement sensors are unsuitable as sensor elements in soft actuators, displacement sensing is challenging for the McKibben artificial muscle. Therefore, we propose an optical fiber-based smart artificial muscle (OSAM) to estimate self-displacement from the bending loss of the optical fiber used as the sleeve fiber. The optical fiber can be effortlessly integrated into the OSAM sleeve using a braiding machine, which is generally used for manufacturing strings, easing the mass production process. the radius of curvature of the optical fiber changed when the OSAM was driven. The displacement of the artificial muscle was estimated based on the sensor output. To demonstrate the usefulness of OSAM, displacement feedback control experiments were conducted using optical fiber sensors integrated into OSAM. From the results, OSAM's displacement showed a good response to the target displacement. Therefore, the developed artificial muscle can facilitate displacement feedback control without requiring external sensors, which in turn can improve the performance of rehabilitation and wearable devices.

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Section: Introductionmentioning

confidence: 99%

Development of a smart artificial muscle using optical fibres

Tian,

Wakimoto,

Yamaguchi

et al. 2024

Smart Mater. Struct.

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“…Li et al proposed a wearable walking control interface to achieve voluntary gait control, and an electrical stimulation method to inform the patients about their foot position for voluntary gait control [33]. The possibility of including multiple stages of rehabilitation has been proved [34]. Results from a recent mixed-method approach study indicate the potential acceptability of exoskeleton devices but also highlight the importance of an adequate implementation strategy and how certain design characteristics, such as comfort, time of adjustment and visibility, can influence the acceptability of an exoskeleton [35].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Interactions between a Human Musculoskeletal Model and a Lower Limb Exoskeleton

Varma

Rao

Budarapu

et al. 2023

Preprint

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The requirement and applicability of exoskeletons for rehabilitation has been indicated by the amount of efforts invested in research across the world in the past decades. However, commercial exoskeletons are still expensive and limited by the need for adjusting the structure to the individual user. In this study, the human-exoskeleton interactions are explored by designing a lower limb exoskeleton with ten degrees of freedom: six actuated and four passive. Finite element analysis (FEA) of the structure is carried out to observe that the structural design is able to withstand the operating loads. Furthermore, the model is imported to Opensim software and connected with the human musculoskeletal model at the locations where both bodies would be connected in a real scenario, using braces and straps. The connections between the human and exoskele-ton models are modelled as six degrees of freedom joints with limits. Data of two subjects from an openly available gait data-set is used to carry out kinematic simulations. Comparison of five cases: human without an exoskeleton, human-exoskeleton combined, human-exoskeleton combined with locked hip adduction, human-exoskeleton combined with locked hip rotation, and human-exoskeleton combined with locked hip adduction and rotation, proved that the absence of degrees of freedom from the exoskeleton affects and restricts the motion of joints while trying to execute the same walking movement. The amount of movement at the interfaces is estimated by the simulation results. Therefore, a new approach for simulating humanex-oskeleton combined model is presented here.

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“…And the recovery effect is less pronounced, resulting in poor utility. Taking into account the demands of different stages of rehabilitation, the design requirement of FRRs is to be able to provide different training modes [22]. Commonly, the training modes are divided into two categories, active training and passive training [23], [24].…”

Section: Introductionmentioning

confidence: 99%

Development of Hybrid-Actuator Robotic Exoskeleton Based on Gesture Signal Recognition Algorithm for the Rehabilitation of Dysfunctional Finger

Zhao¹,

Lei²,

Yang

et al. 2023

IEEE Access

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The present work, which describes the development of a novel, portable, low-cost, effective, hybrid-actuator rehabilitation exoskeleton, aims to present a solution for the rehabilitation of functional finger injuries. In this robotic system, a simple and ingenious actuator is designed on the synchronizing wheel of each finger joint, which enables the independent passive training of each finger joint with the actuation of the motor. In addition, three damping shafts with leaf springs as another type of actuator, corresponding to PIP, MIP and DIP joints, are used as damping devices to supply the damping force for active training. Moreover, a gesture-based signal recognition algorithm, including a preprocessing algorithm, a feature vector extraction algorithm, and a clustering algorithm, is designed and integrated to serve the system for further automatic controllability. By utilizing this hybrid actuator mode, the robotic exoskeleton is able to train each finger joint independently in a passive training mode and maintain the damping force output within acceptable ranges for different levels of muscle strength. Importantly, with further optimization and upgrades, we deduce that this system has excellent potential applications for finger rehabilitation.

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A Portable Elbow Exoskeleton for Three Stages of Rehabilitation

Cited by 14 publications

References 18 publications

Development of a smart artificial muscle using optical fibres

Development of a smart artificial muscle using optical fibres

Kinematic Interactions between a Human Musculoskeletal Model and a Lower Limb Exoskeleton

Development of Hybrid-Actuator Robotic Exoskeleton Based on Gesture Signal Recognition Algorithm for the Rehabilitation of Dysfunctional Finger

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