Hybrid Impedance-Admittance Control for Upper Limb Exoskeleton Using Electromyography

Silva, Lucas D. L. da; Pereira, Thiago Felski; Leithardt, Valderi Reis Quietinho; Seman, Laio Oriel; Zeferino, Cesar Albenes

doi:10.3390/app10207146

Cited by 19 publications

(17 citation statements)

References 31 publications

(65 reference statements)

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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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“…This section addresses some of the latest advances in the upper limb's design listed in Table 1. In [29], the authors developed a 3D printed, wearable exoskeleton configuration based on a hybrid control system that incorporates impedance and admittance controls to define the workspace trajectory, then corrects these trajectories using electromyographic (EMG) feedback signals with two degrees of freedom, targeting the upper limb to provide elbow and shoulder joint flexion and expansion gestures.…”

Section: Appl Sci 2021 11 X For Peer Review 3 Of 23mentioning

confidence: 99%

Design and Development of Continuous Passive Motion (CPM) for Fingers and Wrist Grounded-Exoskeleton Rehabilitation System

Almusawi

Husi

2021

Applied Sciences

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Impairments of fingers, wrist, and hand forearm result in significant hand movement deficiencies and daily task performance. Most of the existing rehabilitation assistive robots mainly focus on either the wrist training or fingers, and they are limiting the natural motion; many mechanical parts associated with the patient’s arms, heavy and expensive. This paper presented the design and development of a new, cost-efficient Finger and wrist rehabilitation mechatronics system (FWRMS) suitable for either hand right or left. The proposed machine aimed to present a solution to guide individuals with severe difficulties in their everyday routines for people suffering from a stroke or other motor diseases by actuating seven joints motions and providing them repeatable Continuous Passive Motion (CPM). FWRMS approach uses a combination of; grounded-exoskeleton structure to provide the desired displacement to the hand’s four fingers flexion/extension (F/E) driven by an indirect feed drive mechanism by adopting a leading screw and nut transmission; and an end-effector structure to provide angular velocity to the wrist flexion/ extension (F/E), wrist radial/ulnar deviation (R/U), and forearm supination/pronation (S/P) driven by a rotational motion mechanism. We employed a single dual-sided actuator to power both mechanisms. Additionally, this article presents the implementation of a portable embedded controller. Moreover, this paper addressed preliminary experimental testing and evaluation process. The conducted test results of the FWRMS robot achieved the required design characteristics and executed the motion needed for the continuous passive motion rehabilitation and provide stable trajectories guidance by following the natural range of motion (ROM) and a functional workspace of the targeted joints comfortably for all trainable movements by FWRMS.

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“…The study consists of three different conditions (Figure 4): In this study, in addition to using a force-field-based assistance mode, two different master-slave strategies were implemented for the therapist to assist the patient. This technique is similar to that used in other studies [15] In both modes, the patient uses a Rubidium device configured with a control algorithm based on force fields (Figure 2a). This force field will help the patient to perform a linear trajectory but will not help the patient to reach the target.…”

Section: Setup and Protocolmentioning

confidence: 99%

Tele-Rehabilitation Versus Local Rehabilitation Therapies Assisted by Robotic Devices: A Pilot Study with Patients

et al. 2021

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The present study aims to evaluate the advantages of a master-slave robotic rehabilitation therapy in which the patient is assisted in real-time by a therapist. We have also explored if this type of strategy is applicable in a tele-rehabilitation environment. A pilot study has been carried out involving 10 patients who have performed a point-to-point rehabilitation exercise supported by three assistance modalities: fixed assistance (without therapist interaction), local therapist assistance, and remote therapist assistance in a simulated tele-rehabiliation scenario. The rehabilitation exercise will be performed using an upper-limb rehabilitation robotic device that assists the patients through force fields. The results suggest that the assistance provided by the therapist is better adapted to patient needs than fixed assistance mode. Therefore, it maximizes the patient’s level of effort, which is an important aspect to improve the rehabilitation outcomes. We have also seen that in a tele-rehabilitation environment it is more difficult to assess when to assist the patient than locally. However, the assistance suits patients better than the fixed assistance mode.

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Hybrid Impedance-Admittance Control for Upper Limb Exoskeleton Using Electromyography

Cited by 19 publications

References 31 publications

Sensors and Actuation Technologies in Exoskeletons: A Review

Sensors and Actuation Technologies in Exoskeletons: A Review

Design and Development of Continuous Passive Motion (CPM) for Fingers and Wrist Grounded-Exoskeleton Rehabilitation System

Tele-Rehabilitation Versus Local Rehabilitation Therapies Assisted by Robotic Devices: A Pilot Study with Patients

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