CRUX: A compliant robotic upper-extremity exosuit for lightweight, portable, multi-joint muscular augmentation

Lessard, Steven; Pansodtee, Pattawong; Robbins, Ash; Baltaxe-Admony, Leya Breanna; Trombadore, James M.; Teodorescu, Mircea; Agogino, Adrian; Kurniawan, Sri

doi:10.1109/icorr.2017.8009482

Cited by 41 publications

(38 citation statements)

References 12 publications

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“…This category of exoskeletons is designed to assist the user in motion amplification or augmentation, where it can be used to assist the users for motion amplification [7,[30][31][32][33][34][35][36][37]; helps to reduce the burden while working in a harsh industrial environment [38,39]; or supplements the physically weak individuals in their activities of daily living. So far, many new systems have been developed and tested during past few years.…”

Section: Exoskeletons For Motion Assistancementioning

confidence: 99%

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A Review on Design of Upper Limb Exoskeletons

2020

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Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research. The technology promises to improve the upper-limb functionalities required for performing activities of daily living. The exoskeleton technology is evolving quickly but still needs interdisciplinary research to solve technical challenges, e.g., kinematic compatibility and development of effective human–robot interaction. In this paper, the recent development in upper-limb exoskeletons is reviewed. The key challenges involved in the development of assistive exoskeletons are highlighted by comparing available solutions. This paper provides a general classification, comparisons, and overview of the mechatronic designs of upper-limb exoskeletons. In addition, a brief overview of the control modalities for upper-limb exoskeletons is also presented in this paper. A discussion on the future directions of research is included.

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Section: Exoskeletons For Motion Assistancementioning

confidence: 99%

“…Lessard et al [31] proposed a soft exosuit for upper-limb rehabilitation, shown in Figure 3B. The study has identified the drawback of classical rigid body exoskeletons and their inability to comply with natural human body movements in a flexible way [62].…”

Section: Compliant Robotic Upper-extremity Exosuit (Crux)mentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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“…Of these devices, four used gyroscopes, 19,25,29,41 five used accelerometers, 16,19,28,37,41 one used magnetometers, 41 and one used an unspecified IMU. 18 Six of the systems collect elbow data, 16,18,19,25,28,29 two collect shoulder data, 16,18 one collects wrist data, 41 and two measure hand data using IMUs. 16,41 IMUs are generally inexpensive, compact and have a wide breadth of possible applications.…”

Section: Electric Motormentioning

confidence: 99%

“…used brushless DC motors, 17,19,23,24,28,31,41,58 6% used both brush and brushless DC motors, 21,29 and 28% do not specify the type of DC motor that is used. Rotational motion is provided by 82% 11,[17][18][19][21][22][23][24]28,29,31,33,34,40,43,47,[49][50][51][52][53][58][59][60]62,63,65,69 of these DC motors and the remaining 18% provide linear motion. 36,46,54,55,66,70 The rotational DC motors all require a gearhead to increase the torque output, which is transmitted to the required joint through either cables, Bowden cables, gears, or linkages.…”

Section: %mentioning

confidence: 99%

Rehabilitative and assistive wearable mechatronic upper-limb devices: A review

Desplenter

Zhou

Edmonds

et al. 2020

Journal of Rehabilitation and Assistive Technologies Engineerin

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Recently, there has been a trend toward assistive mechatronic devices that are wearable. These devices provide the ability to assist without tethering the user to a specific location. However, there are characteristics of these devices that are limiting their ability to perform motion tasks and the adoption rate of these devices into clinical settings. The objective of this research is to perform a review of the existing wearable assistive devices that are used to assist with musculoskeletal and neurological disorders affecting the upper limb. A review of the existing literature was conducted on devices that are wearable, assistive, and mechatronic, and that provide motion assistance to the upper limb. Five areas were examined, including sensors, actuators, control techniques, computer systems, and intended applications. Fifty-three devices were reviewed that either assist with musculoskeletal disorders or suppress tremor. The general trends found in this review show a lack of requirements, device details, and standardization of reporting and evaluation. Two areas to accelerate the evolution of these devices were identified, including the standardization of research, clinical, and engineering details, and the promotion of multidisciplinary culture. Adoption of these devices into their intended application domains relies on the continued efforts of the community.

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“…* The authors are with The Hamlyn Centre, Department of Computing, Institute for Global Health Innovation, Imperial College London, SW7 2AZ, London, UK (email: r.varghese15@imperial.ac.uk) cussed on 1-DoF (abduction/adduction) assistance for the shoulder [7,8]. 2-DoF solutions include a semi-rigid continuum robot system [9] and two multi-DoF tendon-driven exosuits [10,11].…”

Section: Introductionmentioning

confidence: 99%

Design and Prototyping of a Bio-Inspired Kinematic Sensing Suit for the Shoulder Joint: Precursor to a Multi-DoF Shoulder Exosuit

Varghese

Yang

2020

IEEE Robot. Autom. Lett.

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Soft wearable robots are a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints like the shoulder, but intuitive control of these robots require robust and compliant sensing mechanisms. In this work, we introduce the sensing framework for a multi-DoF shoulder exosuit capable of sensing the kinematics of the shoulder joint. The proposed tendon-based sensing system is inspired by the concept of muscle synergies, the body's sense of proprioception, and finds its basis in the organization of the muscles responsible for shoulder movements. A motion-capture-based evaluation of the developed sensing system showed conformance to the behaviour exhibited by the muscles that inspired its routing and validates the hypothesis of the tendon-routing to be extended to the actuation framework of the exosuit in the future. The mapping from multi-sensor space to joint space is a multivariate multiple regression problem and was derived using an Artificial Neural Network (ANN). The sensing framework was tested with a motion-tracking system and achieved performance with root mean square error (RMSE) of ≈ 5.43 • and ≈ 3.65 • for the azimuth and elevation joint angles, respectively, measured over 29,000 frames (4+ minutes) of motion-capture data.

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CRUX: A compliant robotic upper-extremity exosuit for lightweight, portable, multi-joint muscular augmentation

Cited by 41 publications

References 12 publications

A Review on Design of Upper Limb Exoskeletons

A Review on Design of Upper Limb Exoskeletons

Rehabilitative and assistive wearable mechatronic upper-limb devices: A review

Design and Prototyping of a Bio-Inspired Kinematic Sensing Suit for the Shoulder Joint: Precursor to a Multi-DoF Shoulder Exosuit

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