A wheelchair operation assistance control for a wearable robot using the user's residual function

Abstract

Cervical Cord Injury (CCI) is a dysfunction of the upper limb. In an individual with C5-level CCI, which is the most frequent of all eight levels, force can be applied in the direction of flexion by the biceps brachii, but extension force cannot be applied because of the triceps brachii paralysis. Persons with C5-level CCI therefore cannot operate a wheelchair up an incline and over carpet. In this study, we estimated the wheelchair velocity during elbow flexion depending on the angular velocity of the elbow. A wearable assistive robot can assist with the elbow extension movement using this estimated velocity while the wheelchair is being operated.

Driving force assistance control for wheelchair operation using an exoskeletal robot

“…(11) is normalized using (12) and (13), and the hand force set that fills ||τ ≤ 1|| can be rewritten as (14).…”

Pneumatic tubular body fixture for wearable assistive device — Analysis and design of active cuff to hold upper limb —

“…Many upper limb support systems for assisting rehabilitation or daily life activities have been developed [1]- [4]. Most studies on a wearable robot focus on a joint drive, linkage mechanisms, user interfaces or control algorithms.…”

Controle da locomoção assistida de cadeiras de rodas manuais por meio do controle de impedância: análise via controle ótimo

“…Por esses motivos, alguns trabalhos acadêmicos focaram em outros tipos de soluções, como o trabalho de Mizutani et al (2013), onde é apresentado um braço robótico para melhorar a propulsão de cadeiras de rodas manuais em pessoas que possuem quase nenhuma força nos membros superiores. O braço é composto por duas partes: uma externa e uma interna ligados por molas finas; esse método é conveniente para a medição de movimentos de extensão e contração para saber a intensão do usuário.…”