Execution and perception of upper limb exoskeleton for stroke patients: a systematic review

Xu, Pengpeng; Xia, Dan; Li, Juncheng; Zhou, Jiaming; Xie, Longhan

doi:10.1007/s11370-022-00435-5

Cited by 7 publications

(5 citation statements)

References 181 publications

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“…In this section, we technically review the key components for rigid-joint upper limb exoskeletons. Notably, Muhammad et al [14], Maciejasz et al [28], Gopura et al [13], and Xu et al [25] comprehensively listed typical exoskeleton designs including both hardware and control; in this section, we will not list designs and will focus on the necessary techniques for designing key components of exoskeletons. Although such key techniques are mainly used for rigid-joint exoskeletons, the knowledge may inspire new soft designs as well.…”

Section: Rigid-joint Exoskeletonsmentioning

confidence: 99%

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Wearable upper limb robotics for pervasive health: a review

2023

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Wearable robotics, also called exoskeletons, have been engineered for human-centered assistance for decades. They provide assistive technologies for maintaining and improving patients’ natural capabilities towards self-independence and also enable new therapy solutions for rehabilitation towards pervasive health. Upper limb exoskeletons can significantly enhance human manipulation with environments, which is crucial to patients’ independence, self-esteem, and quality of life. For long-term use in both in-hospital and at-home settings, there are still needs for new technologies with high comfort, biocompatibility, and operability. The recent progress in soft robotics has initiated soft exoskeletons (also called exosuits), which are based on controllable and compliant materials and structures. Remarkable literature reviews have been performed for rigid exoskeletons ranging from robot design to different practical applications. Due to the emerging state, few have been focused on soft upper limb exoskeletons. This paper aims to provide a systematic review of the recent progress in wearable upper limb robotics including both rigid and soft exoskeletons with a focus on their designs and applications in various pervasive healthcare settings. The technical needs for wearable robots are carefully reviewed and the assistance and rehabilitation that can be enhanced by wearable robotics are particularly discussed. The knowledge from rigid wearable robots may provide practical experience and inspire new ideas for soft exoskeleton designs. We also discuss the challenges and opportunities of wearable assistive robotics for pervasive health.

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Section: Rigid-joint Exoskeletonsmentioning

confidence: 99%

“…Mekki et al [10] reviewed robotic rehabilitation for SCI including both upper and lower limb robotics. Zuccon et al [24] and Xu et al [25] performed surveys about robotic rehabilitation after strokes. Gassert and Dietz [26] focused on studies using robotic devices for the recovery of sensorimotor function.…”

Section: Introductionmentioning

confidence: 99%

Wearable upper limb robotics for pervasive health: a review

2023

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“…In general, rehabilitation robots are used in physiotherapy to reduce therapists’ physical effort during complex exercises [ 5 ], increase the frequency and length of the sessions [ 6 ] and improve the accuracy of repeatable exercises [ 7 ]. Moreover, they enable precise performance measurements and, hence, constant feedback during therapy [ 8 ].…”

Section: Introductionmentioning

confidence: 99%

Simulation of a control method for active kinesiotherapy with an upper extremity rehabilitation exoskeleton without force sensor

Falkowski,

Jeznach

2024

J NeuroEngineering Rehabil

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Exoskeleton-aided active rehabilitation is a process that requires sensing and acting upon the motion intentions of the user. Typically, force sensors are used for this. However, they increase the weight and cost of these wearable devices. This paper presents the methodology for detecting users’ intentions only with encoders integrated with the drives. It is unique compared to other algorithms, as enables active kinesiotherapy while adding no sensory systems. The method is based on comparing the measured motion with the one computed with the idealised model of the multibody system. The investigation assesses the method’s performance and its robustness to model and measurement inaccuracies, as well as patients’ unintended motions. Moreover, the PID parameters are selected to provide the optimal regulation based on the dynamics requirements. The research proves the presented concept of the control approach. For all the tests with the final settings, the system reacts to a change in the user’s intention below one second and minimises the changes in proportion between the system’s acceleration and the generated user’s joint torque. The results are comparable to those obtained by EMG-based systems and significantly better than low-cost force sensors.

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“…The above-mentioned exoskeletons are adjustable according to the user characteristics, provide repetitive active and passive assistance, accelerate neural remodeling, and record user motion data, but there are also limitations. For example, exoskeletons do not fully match to the upper limb kinetic chain, resulting in insufficient active degrees of freedom, safety, sensing and learning capabilities, and comfort.Therefore, the design objectives of the exoskeleton mainly include the following four points: (1) redundant active degrees of freedom, (2) bionic structure, (3) non-collision with the user, and (4) torque sensing and control [12,13].…”

Section: Introductionmentioning

confidence: 99%

A Human-like Inverse Kinematics Algorithm of an Upper Limb Rehabilitation Exoskeleton

Pei,

Wang,

Guo

et al. 2023

Symmetry

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Powered exoskeleton rehabilitation is an effective way to help stroke patients recover their motor abilities. Bionic structures and human-like control strategies can be used to enhance both the safety and efficacy of exoskeletons. However, the motion characteristics of the shoulder complex are not sufficiently considered. In this paper, we designed a 7-degrees-of-freedom (DOF) upper limb rehabilitation exoskeleton, FREE (functional rehabilitation exoskeleton). The mechanical structures of the shoulder and forearm of FREE are in accordance with human anatomy, and can be used to perform a wide range of synergistic motion of multiple joints while keeping a safe distance from the patient’s head. A multiple-input-multiple-output (MIMO) shoulder girdle motion prediction model was developed to satisfy the synergy between humans and exoskeletons. Moreover, a constrained task priority and projected gradient-based inverse kinematics algorithm (CTPPG-IK) was proposed to achieve assistance with scapulohumeral rhythm. A motion capture system was used to collect different activities of daily life (ADL) motion data to validate the proposed algorithm. The experimental results show that the accuracy of the prediction model is higher than that of existing models, and the inverse kinematics algorithm can handle the end-effector task and joint space with a maximum angle error of 3.04×10−3 rad.

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Execution and perception of upper limb exoskeleton for stroke patients: a systematic review

Cited by 7 publications

References 181 publications

Wearable upper limb robotics for pervasive health: a review

Wearable upper limb robotics for pervasive health: a review

Simulation of a control method for active kinesiotherapy with an upper extremity rehabilitation exoskeleton without force sensor

A Human-like Inverse Kinematics Algorithm of an Upper Limb Rehabilitation Exoskeleton

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