Design and fabrication of a 3DoF upper limb exoskeleton

Mahdavian, Mohammad; Toudeshki, Amirmasoud Ghasemi; Yousefi‐Koma, Aghil

doi:10.1109/icrom.2015.7367808

Cited by 14 publications

(7 citation statements)

References 19 publications

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“…Force metrics were preponderant, and specifically one-dimensional forces (typically normal to the contact) were generally used for control purposes [ 19 , 28 , 33 , 37 , 38 , 39 , 40 , 41 ] or for contact evaluation strategies such as interface design evaluation [ 35 , 42 ], human–device kinematic compatibility [ 43 , 44 ], misalignment evaluation [ 31 , 45 , 46 , 47 , 48 ], or intention detection [ 40 , 49 ]. Normal force metrics were generally the mean absolute value of normal force during the task [ 18 , 45 , 50 ], force root mean square (RMS) [ 51 , 52 , 53 ], average force in a cyclic task [ 9 , 39 , 53 , 54 , 55 , 56 , 57 ], peak force [ 9 , 58 , 59 , 60 ], and force range [ 61 ].…”

Section: Resultsmentioning

confidence: 99%

Characterization and Evaluation of Human–Exoskeleton Interaction Dynamics: A Review

Massardi

Rodriguez-Cianca

Pinto-Fernández

et al. 2022

Sensors

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Exoskeletons and exosuits have witnessed unprecedented growth in recent years, especially in the medical and industrial sectors. In order to be successfully integrated into the current society, these devices must comply with several commercialization rules and safety standards. Due to their intrinsic coupling with human limbs, one of the main challenges is to test and prove the quality of physical interaction with humans. However, the study of physical human–exoskeleton interactions (pHEI) has been poorly addressed in the literature. Understanding and identifying the technological ways to assess pHEI is necessary for the future acceptance and large-scale use of these devices. The harmonization of these evaluation processes represents a key factor in building a still missing accepted framework to inform human–device contact safety. In this review, we identify, analyze, and discuss the metrics, testing procedures, and measurement devices used to assess pHEI in the last ten years. Furthermore, we discuss the role of pHEI in safety contact evaluation. We found a very heterogeneous panorama in terms of sensors and testing methods, which are still far from considering realistic conditions and use-cases. We identified the main gaps and drawbacks of current approaches, pointing towards a number of promising research directions. This review aspires to help the wearable robotics community find agreements on interaction quality and safety assessment testing procedures.

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Section: Resultsmentioning

confidence: 99%

Characterization and Evaluation of Human–Exoskeleton Interaction Dynamics: A Review

Massardi

Rodriguez-Cianca

Pinto-Fernández

et al. 2022

Sensors

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“…From Figs. 11,12,13,14,15,16,17,18,19,20,21,22,23 and 24, FSMC showed better performance in terms of high tracking and chattering phenomenon elimination in comparison with SMC. SMC was suitable when there was no friction available in u-Rob dynamics.…”

Section: Simulationmentioning

confidence: 96%

“…59 The dynamics were computed in MATLAB (MathWorks, Natick, MA, USA), and the simulation was performed in Simulink (MathWorks, Natick, MA, USA). Figures 11,12,13,14,15,16,17,18,19,20,21,22,23 and 24 show simulation results where each joint moves at a time. The movement was carried out to reach workspace boundaries, meaning that each joint is moved from its minimum ROM to maximum ROM of u-Rob.…”

Section: Simulationmentioning

confidence: 99%

“…To articulate glenohumeral motion, most exoskeleton researches have considered shoulder GH joint as a spherical (ball-and-socket) joint, where ICR remains fixed during shoulder movements. 15,16,25,28,30,[36][37][38] However, some exoskeletons have taken this matter into consideration in their kinematic structure design. But they do have limitations and need to be overcome to deliver better human-exoskeleton interface during limb rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

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A Novel Exoskeleton with Fractional Sliding Mode Control for Upper Limb Rehabilitation

Islam¹,

Rahmani²,

Rahman³

2020

Robotica

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SUMMARY The robotic intervention has great potential in the rehabilitation of post-stroke patients to regain their lost mobility. In this paper, firstly, we present a design of a novel, 7 degree-of-freedom (DOF) upper limb robotic exoskeleton (u-Rob) that features shoulder scapulohumeral rhythm with a wide range of motions (ROM) compared to other existing exoskeletons. An ergonomic shoulder mechanism with two passive DOF was included in the proposed exoskeleton to provide scapulohumeral motion with corresponding full ROM. Also, the joints of u-Rob have more range of motions compared to its existing counterparts. Secondly, we propose a fractional sliding mode control (FSMC) to control u-Rob. Applying the Lyapunov theory to the proposed control algorithm, we showed the stability of it. To control u-Rob, FSMC has shown effectiveness to handle unmodeled dynamics (e.g. friction, disturbance, etc.) in terms of better tracking and chatter compared to traditional SMC.

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“…The primary source of misalignment can stem from the exoskeleton’s shoulder joint if its center of rotation (CR) remains fixed during a maneuver. Most of the existing exoskeletons were developed with a fixed-CR shoulder joint as a three-DoF ball-and-socket joint [ 8 , 17 , 33 , 34 , 35 , 36 , 37 , 38 ]. However, some exoskeletons were developed with this kinematic structure in mind [ 14 , 39 , 40 , 41 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality

et al. 2021

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The design of an upper limb rehabilitation robot for post-stroke patients is considered a benchmark problem regarding improving functionality and ensuring better human–robot interaction (HRI). Existing upper limb robots perform either joint-based exercises (exoskeleton-type functionality) or end-point exercises (end-effector-type functionality). Patients may need both kinds of exercises, depending on the type, level, and degree of impairments. This work focused on designing and developing a seven-degrees-of-freedom (DoFs) upper-limb rehabilitation exoskeleton called ‘u-Rob’ that functions as both exoskeleton and end-effector types device. Furthermore, HRI can be improved by monitoring the interaction forces between the robot and the wearer. Existing upper limb robots lack the ability to monitor interaction forces during passive rehabilitation exercises; measuring upper arm forces is also absent in the existing devices. This research work aimed to develop an innovative sensorized upper arm cuff to measure the wearer’s interaction forces in the upper arm. A PID control technique was implemented for both joint-based and end-point exercises. The experimental results validated both types of functionality of the developed robot.

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Design and fabrication of a 3DoF upper limb exoskeleton

Cited by 14 publications

References 19 publications

Characterization and Evaluation of Human–Exoskeleton Interaction Dynamics: A Review

Characterization and Evaluation of Human–Exoskeleton Interaction Dynamics: A Review

A Novel Exoskeleton with Fractional Sliding Mode Control for Upper Limb Rehabilitation

Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality

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