Development of an armored upper limb exoskeleton

López-Méndez, Santiago; Martínez-Tejada, H.V.; Valencia-García, Marco

doi:10.17533/udea.redin.20191148

Cited by 3 publications

(2 citation statements)

References 19 publications

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“…These devices are also used in medical services such as caretaking where the weight of the patient has to be handled manually [67], [68]. Moreover, exoskeleton devices have been very popular in the military use in the context of assisting soldiers to handle large weights on unfavourable terrains [69]- [72].…”

Section: A Applicationmentioning

confidence: 99%

Exoskeletons for Manual Handling: A Scoping Review

Perera,

Widanage,

Wijegunawardana

et al. 2023

IEEE Access

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The prevalence of work-related musculoskeletal disorders is a common issue in many occupations involving manual handling activities. In order to aid manual workers in reducing the burden on the musculoskeletal system, various wearable robotic technologies have been developed over the years. An increase in research work on wearable technologies has been observed, particularly in the last decade. In that context, this article presents a comprehensive review and a bibliometric analysis of the recorded occupational exoskeletons for manual handling since 2010. The review is aimed at identifying the paradigm shifts of research in the recent past and associating the trends pertaining to the applications, mechanisms, and control systems in the development of wearable devices for manual handling. The scope of the review limits itself to active and passive exoskeletons designed to support the upper extremity, lower extremity, and spine for performing load lifting, load carrying, or static holding. The analysis of the results revealed the emerging trends with the aim of providing researchers with areas for improvement and suggestions for different clusters of devices.

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Section: A Applicationmentioning

confidence: 99%

Exoskeletons for Manual Handling: A Scoping Review

Perera,

Widanage,

Wijegunawardana

et al. 2023

IEEE Access

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“…Given the redundant nature of the arm, it is possible to perform multiple pose configurations to complete a task or movement, which is expressed with a mathematical model with no single solution [32][33][34]. Hence, to solve this model, it is necessary to understand the motor control mechanism of the human arm and select the most adequate solution for its biomechanics [4,35,36].…”

Section: Introductionmentioning

confidence: 99%

Kinematic of the Position and Orientation Synchronization of the Posture of a n DoF Upper-Limb Exoskeleton with a Virtual Object in an Immersive Virtual Reality Environment

Huamanchahua¹,

Martínez²,

Ramirez‐Mendoza³

2021

Electronics

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Exoskeletons are an external structural mechanism with joints and links that work in tandem with the user, which increases, reinforces, or restores human performance. Virtual Reality can be used to produce environments, in which the intensity of practice and feedback on performance can be manipulated to provide tailored motor training. Will it be possible to combine both technologies and have them synchronized to reach better performance? This paper consists of the kinematics analysis for the position and orientation synchronization between an n DoF upper-limb exoskeleton pose and a projected object in an immersive virtual reality environment using a VR headset. To achieve this goal, the exoskeletal mechanism is analyzed using Euler angles and the Pieper technique to obtain the equations that lead to its orientation, forward, and inverse kinematic models. This paper extends the author’s previous work by using an early stage upper-limb exoskeleton prototype for the synchronization process.

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Towards the Mechatronic Development of a New Upper-Limb Exoskeleton (SAMA)

Abdelbar

Mohamed

Abdellatif

et al. 2022

Designs

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Modern neuromuscular rehabilitation engineering and assistive technology research have been constantly developing in the last 20 years. The upper body exoskeleton is an example of an assistive rehabilitation device. However, in order to solve its technological problems, interdisciplinary research is still necessary. This paper presents a new three-degrees of freedom (DOF) active upper-body exoskeleton for medical rehabilitation named “SAMA”. Its mechanical structure is inspired by the geometry and biomechanics of the human body, particularly the ranges of motion (ROM) and the needed torque. The SAMA exoskeleton was manufactured and assembled into an ergonomic custom-made wheelchair in a sitting posture in order to provide portability and subject comfort during experimental testing and rehabilitation exercises. Dynamic modeling using MATLAB–Simulink was used for calculating the inverse kinematics, dynamic analysis, trajectory generation and implementation of proportional–integral–derivative (PID) computed torque control (PID-CTC). A new framework has been developed for rapid prototyping (the dynamic modeling, control, and experimentation of SAMA) based on the integration between MATLAB–Simulink and the Robot Operating System (ROS) environment. This framework allows the robust position and torque control of the exoskeleton and real-time monitoring of SAMA and its subject. Two joints of the developed exoskeleton were successfully tested experimentally for the desired arm trajectory. The angular position and torque controller responses were recorded and the exoskeleton joints showed a maximum delay of 200° and a maximum steady state error of 0.25°. These successful results encourage further development and testing for different subjects and more control strategies.

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Development of an armored upper limb exoskeleton

Cited by 3 publications

References 19 publications

Exoskeletons for Manual Handling: A Scoping Review

Exoskeletons for Manual Handling: A Scoping Review

Kinematic of the Position and Orientation Synchronization of the Posture of a n DoF Upper-Limb Exoskeleton with a Virtual Object in an Immersive Virtual Reality Environment

Towards the Mechatronic Development of a New Upper-Limb Exoskeleton (SAMA)

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