Development of Exoskeletons and Applications on Rehabilitation

Guan, Xinyu; Ji, Linhong; Wang, Rencheng

doi:10.1051/matecconf/20164002004

Cited by 13 publications

(7 citation statements)

References 24 publications

(41 reference statements)

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“…Easily accessible, cheap and with wide range of power and size DC motors are the most common types of drives. Compared to others, they are distinguished by extensive experience and knowledge in control methods and that is why they are used in limb exoskeletons [92][93][94] and in stationary rehabilitation robots [95][96][97][98].These electric actuators can be divided into two basic groups: brushed and brushless.…”

Section: Actuators Overviewmentioning

confidence: 99%

Upper Limb Bionic Orthoses: General Overview and Forecasting Changes

Rzyman¹,

Szkopek²,

Redlarski³

et al. 2020

Applied Sciences

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Using robotics in modern medicine is slowly becoming a common practice. However, there are still important life science fields which are currently devoid of such advanced technology. A noteworthy example of a life sciences field which would benefit from process automation and advanced robotic technology is rehabilitation of the upper limb with the use of an orthosis. Here, we present the state-of-the-art and prospects for development of mechanical design, actuator technology, control systems, sensor systems, and machine learning methods in rehabilitation engineering. Moreover, current technical solutions, as well as forecasts on improvement, for exoskeletons are presented and reviewed. The overview presented might be the cornerstone for future research on advanced rehabilitation engineering technology, such as an upper limb bionic orthosis.

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Section: Actuators Overviewmentioning

confidence: 99%

Upper Limb Bionic Orthoses: General Overview and Forecasting Changes

Rzyman¹,

Szkopek²,

Redlarski³

et al. 2020

Applied Sciences

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“…In particular, physical therapy robots have a long history. Rudimentary prosthetics and sensors might have been used since the times of Ancient Egypt [33]; more recently, exoskeletons were designed as tools to help people walk in the 1800s, and to carry heavy loads since the 1960s [34]. Such robots have also begun to be used more recently in other roles, such as "socially assistive" robots working as exercise coaches, to get elderly to move their arms [35].…”

Section: Therapy Robotsmentioning

confidence: 99%

Design for an Art Therapy Robot: An Explorative Review of the Theoretical Foundations for Engaging in Emotional and Creative Painting with a Robot

Cooney

Menezes

2018

MTI

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Social robots are being designed to help support people’s well-being in domestic and public environments. To address increasing incidences of psychological and emotional difficulties such as loneliness, and a shortage of human healthcare workers, we believe that robots will also play a useful role in engaging with people in therapy, on an emotional and creative level, e.g., in music, drama, playing, and art therapy. Here, we focus on the latter case, on an autonomous robot capable of painting with a person. A challenge is that the theoretical foundations are highly complex; we are only just beginning ourselves to understand emotions and creativity in human science, which have been described as highly important challenges in artificial intelligence. To gain insight, we review some of the literature on robots used for therapy and art, potential strategies for interacting, and mechanisms for expressing emotions and creativity. In doing so, we also suggest the usefulness of the responsive art approach as a starting point for art therapy robots, describe a perceived gap between our understanding of emotions in human science and what is currently typically being addressed in engineering studies, and identify some potential ethical pitfalls and solutions for avoiding them. Based on our arguments, we propose a design for an art therapy robot, also discussing a simplified prototype implementation, toward informing future work in the area.

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“…It can augment the ability of human body parts to treat muscles, joints, or skeletal parts that are weak, ineffective, or injured because of a disease or a neurological condition. Many studies have been conducted to enhance the performance of exoskeletons, and many designs have been proposed [1]- [6]. In [2], a review of the lower limb exoskeleton designs has been conducted.…”

Section: Introductionmentioning

confidence: 99%

Design of Matlab/Opensim Robust Controller of an Exoskeleton for Disuse Muscular Atrophy Rehabilitation of A Human Arm

Djoudi,

Bouzid

2023

The Scientific Bulletin of Electrical Engineering Faculty

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The mean goal of this paper is to describe the design and control approach of an exoskeleton for rehabilitation of the disuse muscular atrophy of a human arm. This work includes three main parts: Firstly, the exoskeleton model wes design by Autodesk Inventor 3D software. Secondly, the dynamic simulation of the designed exoskeleton model attached to the human arm was performed using OpenSim software and its Matlab API extension, and finally a robust control law was simulated in order to ensure tracking of the rehabilitation trajectories applied by the exoskeleton to the human arm. OpenSim software makes it possible to simulate movements with musculoskeletal models, namely, the human arm. Rehabilitation in this case consists in a precise exercises given by the therapist. In our case, it is the repetitive trajectories given to the exoskeleton that must be controlled. A sliding mode controller was used since it is a robust control and ensures the best solutions to uncertainty issues. Through simulation, we tested some rehabilitation reference trajectories for the elbow and shoulder. The controller ensures high performances in terms of trajectory tracking in the presence of initial errors and also in the presence of model parameter errors. That showed the effectiveness of the exoskeleton control.

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Development of Exoskeletons and Applications on Rehabilitation

Cited by 13 publications

References 24 publications

Upper Limb Bionic Orthoses: General Overview and Forecasting Changes

Upper Limb Bionic Orthoses: General Overview and Forecasting Changes

Design for an Art Therapy Robot: An Explorative Review of the Theoretical Foundations for Engaging in Emotional and Creative Painting with a Robot

Design of Matlab/Opensim Robust Controller of an Exoskeleton for Disuse Muscular Atrophy Rehabilitation of A Human Arm

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