Differential System for Limb Rehabilitation

Ceresoli, Federico; Aggogeri, Francesco; Amici, Cinzia; Borboni, Alberto; Faglia, Rodolfo; Pellegrini, Nicola; Tiboni, Monica; Antonini, Massimo; Fausti, Davide; Mor, Maurizio; Petrogalli, Gianluigi; Vertuan, Angelo

doi:10.1007/978-3-030-00329-6_1

Cited by 7 publications

(2 citation statements)

References 9 publications

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“…In this context, a review of the same literature with a different focus could certainly provide useful input. Referring to the scheme in Figure 1 , interesting aspects could emerge from literature reviews on the topics of control and related algorithms [ 85 , 163 , 164 ], specifically regarding the mechanical structure [ 11 , 165 , 166 ] or the HMI interfaces [ 167 , 168 ].…”

Section: Discussionmentioning

confidence: 99%

Sensors and Actuation Technologies in Exoskeletons: A Review

Tiboni

Borboni

Vérité

et al. 2022

Sensors

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Exoskeletons are robots that closely interact with humans and that are increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance augmentation or as haptic devices. In the last few decades, the research activity on these robots has grown exponentially, and sensors and actuation technologies are two fundamental research themes for their development. In this review, an in-depth study of the works related to exoskeletons and specifically to these two main aspects is carried out. A preliminary phase investigates the temporal distribution of scientific publications to capture the interest in studying and developing novel ideas, methods or solutions for exoskeleton design, actuation and sensors. The distribution of the works is also analyzed with respect to the device purpose, body part to which the device is dedicated, operation mode and design methods. Subsequently, actuation and sensing solutions for the exoskeletons described by the studies in literature are analyzed in detail, highlighting the main trends in their development and spread. The results are presented with a schematic approach, and cross analyses among taxonomies are also proposed to emphasize emerging peculiarities.

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Section: Discussionmentioning

confidence: 99%

Sensors and Actuation Technologies in Exoskeletons: A Review

Tiboni

Borboni

Vérité

et al. 2022

Sensors

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“…Our work is related to robotics in rehabilitation. There are application for upper limbs [51][52][53], also using cable-driven actuators [54], and for lower and upper limbs [55]. We focus on the ankle, but other works included the complete lower limbs [56,57].…”

Section: Introductionmentioning

confidence: 99%

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera

2023

Robotics

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The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. We proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporated a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We also reconfigured the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Furthermore, we computed the workspace to show that the reconfigurable design fits several sizes. The data used are from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators for enhancing human–robot interaction.

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PneuNets Soft Actuators: Characterization and Deformation Conditioning

Loda,

Tiboni

2024

Mechanisms and Machine Science

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Differential System for Limb Rehabilitation

Cited by 7 publications

References 9 publications

Sensors and Actuation Technologies in Exoskeletons: A Review

Sensors and Actuation Technologies in Exoskeletons: A Review

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

PneuNets Soft Actuators: Characterization and Deformation Conditioning

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