Design of Wrist Gimbal: A forearm and wrist exoskeleton for stroke rehabilitation

Martínez, J.A. Mirallas; Ng, Phillip; Lu, Son; Campagna, McKenzie S.; Çelik, Özkan

doi:10.1109/icorr.2013.6650459

Cited by 67 publications

(42 citation statements)

References 24 publications

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“…This is especially true during studies with fragile skinned subjects where donning/doffing closeddesign exoskeletons (e.g. [7], [10], [19]) is not only difficult and time consuming, but also potentially hazardous. In order of importance, future hand-wrist exoskeletons, including the READAPT, would need to (1) provide a harmonious interface between the the hand and wrist modules, (2) enable don/doff of impaired individuals with an easily accessed open design, (3) address ergonomics and user comfort, and (4) minimize the discoordinating effects of friction and inertia.…”

Section: A Identified Design Requirementsmentioning

confidence: 99%

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Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation

Pezent

Rose

Deshpande

et al. 2017

2017 International Conference on Rehabilitation Robotics (ICORR)

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Robotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated hand and wrist therapy, often overlooked in rehabilitation robotics, is required to regain the ability to perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has been designed. This paper details the design of the wrist module and several human-related considerations made to maximize its potential as a coordinated hand-wrist device. The serial wrist mechanism has been engineered to facilitate donning and doffing for impaired subjects and to insure compatibility with the hand module in virtual and assisted grasping tasks. Several other practical requirements have also been addressed, including device ergonomics, clinician-friendliness, and ambidextrous reconfigurability. The wrist module's capabilities as a rehabilitation device are quantified experimentally in terms of functional workspace and dynamic properties. Specifically, the device possesses favorable performance in terms of range of motion, torque output, friction, and closed-loop position bandwidth when compared with existing devices. The presented wrist module's performance and operational considerations support its use in a wide range of future clinical investigations.

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Section: A Identified Design Requirementsmentioning

confidence: 99%

“…CAPABILITIES COMPARED WITH REQUIREMENTS FOR ADL AND OTHER WRIST DEVICES (MIT-MANUS[9], IIT WRIST ROBOT[11], WRIST GIMBAL[10], MAHI EXO-II[8], AND RICEWRIST-S[7])…”

mentioning

confidence: 99%

Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation

Pezent

Rose

Deshpande

et al. 2017

2017 International Conference on Rehabilitation Robotics (ICORR)

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“…2, Special Issue 9, pp. 119-130, February, 2019 120 et al [20] designed a 3-DOF wrist gimbal for forearm and wrist rehabilitation. Yalçın [21] designed an exoskeleton named AssistOn-Arm for the upper limb rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

Design, Produce and Control of a 2-Dof Upper Limb Exoskeletal Robot

Akdoğan¹

2019

Journal of Thermal Engineering

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Exoskeletal robots are used as high-tech products in the military, health and industrial applications. The integration of robots and humans offers new opportunities for the creation of new assistive technologies that can be used in biomedical, industrial and military applications. This paper presents the mechanical design, modeling and simulation of 2 degrees of freedom (DOF) upper limb exoskeletal robot. The system can be used both for supporting load lifting and for rehabilitation of upper limbs. A load cell was used to measure the applied load. Encoders were used to measure the shoulder and elbow joint angles. An electromyograph was developed to measure muscular activation. In this study, simulation was conducted with the PID position control, however the system hardware is applicable for a force control architecture.

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“…They have been mainly proposed because they are easy to design and analyze; moreover, the range of motion (ROM) can be easily considered, and the rotation center can be placed close to the human wrist center. 4 However, the small bandwidth for the force response and the machine impedance that is increased by the inertia of the actuator attached to the moving part have been identified as major drawbacks. 5 As an alternative, parallel wrist human-machine interface (WHMI) using a prismatic drive has been developed.…”

Section: Introductionmentioning

confidence: 99%

Design of exoskeleton-type wrist human–machine interface based on over-actuated coaxial spherical parallel mechanism

Lee

Song²,

Yang

2018

Advances in Mechanical Engineering

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In this study, a wrist human-machine interface with a single internal rotation center, which is efficient in terms of performance, size, and avoidance of kinematic interference, is proposed to realize the 3-degree-of-freedom rotational motion of the human wrist. For this purpose, an over-actuated coaxial spherical parallel mechanism is applied. The over-actuated mechanism is specially considered to improve the force feedback performance and to overcome the workspace limitations caused by the singularity. From a mechanical perspective, two links are coaxially connected to the base, and this rotation axis is designed to coincide with the wrist pronation-supination, which has the largest operating range in wrist motion. A prototype was fabricated and evaluated to validate the proposed mechanism. In addition, a usable design index was proposed for the design that prevents interference with the user in the workspace while minimizing the link inertia to optimize the device. This index is optimized with the general performance indices, that is, condition index and stiffness index. It was verified through simulation that the optimized wrist human-machine interface exhibited higher performance than other similar devices. In addition, range of motion is at least 104.3% than a daily living range of motion of the human wrist, guaranteeing all ranges of motion.

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Design of Wrist Gimbal: A forearm and wrist exoskeleton for stroke rehabilitation

Cited by 67 publications

References 24 publications

Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation

Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation

Design, Produce and Control of a 2-Dof Upper Limb Exoskeletal Robot

Design of exoskeleton-type wrist human–machine interface based on over-actuated coaxial spherical parallel mechanism

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