Hyperstaticity for ergonomie design of a wrist exoskeleton

Esmaeili, Mohammad; Jarrassé, Nathanaël; Dailey, Wayne; Burdet, Etienne; Campolo, Domenico

doi:10.1109/icorr.2013.6650417

Cited by 10 publications

(7 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…On the other hand, several studies [41,84,150] have proposed spherical mechanisms to replicate the 3-DOF shoulder and wrist movements, but most of them have considered the shoulder and wrist joints as a ball socket joint. This consideration is not able to provide optimal solution against designing a mechanism which could accommodate the effect of instantaneous center of rotation for shoulder and wrist joints.…”

Section: Kinematic Compatibilitymentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

View full text Add to dashboard Cite

Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research. The technology promises to improve the upper-limb functionalities required for performing activities of daily living. The exoskeleton technology is evolving quickly but still needs interdisciplinary research to solve technical challenges, e.g., kinematic compatibility and development of effective human–robot interaction. In this paper, the recent development in upper-limb exoskeletons is reviewed. The key challenges involved in the development of assistive exoskeletons are highlighted by comparing available solutions. This paper provides a general classification, comparisons, and overview of the mechatronic designs of upper-limb exoskeletons. In addition, a brief overview of the control modalities for upper-limb exoskeletons is also presented in this paper. A discussion on the future directions of research is included.

show abstract

Section: Kinematic Compatibilitymentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

View full text Add to dashboard Cite

show abstract

“…This comparison is an especially critical and underreported validation for many exoskeleton designs [22], such as the IIT-Wrist [23] MIT-MANUS [14], InMotion3 [24], and the ARMin [25]. Further, this comparison will shed light on design guidelines to improve measurement capabilities of exoskeletons, and investigate the validity of simplified kinematic designs paired with passive degrees of freedom (DOF) to reduce overconstraint or hyperstaticity [17], [23], [26], [27]. Specifically, these tests will investigate the impact of movement with respect to the robot has on measurements, either along passive DOF or from the forces arising from hyperstaticity [28].…”

Section: Introductionmentioning

confidence: 99%

Assessing Wrist Movement With Robotic Devices

Rose

Pezent

Kann

et al. 2018

IEEE Trans. Neural Syst. Rehabil. Eng.

View full text Add to dashboard Cite

Robotic devices have been proposed to meet the rising need for high intensity, long duration, and goal-oriented therapy required to regain motor function after neurological injury. Complementing this application, exoskeletons can augment traditional clinical assessments through precise, repeatable measurements of joint angles and movement quality. These measures assume that exoskeletons are making accurate joint measurements with a negligible effect on movement. For the coupled and coordinated joints of the wrist and hand, the validity of these two assumptions cannot be established by characterizing the device in isolation. To examine these assumptions, we conducted three user-in-the-loop experiments with able-bodied participants. First, we compared robotic measurements to an accepted modality to determine the validity of joint- and trajectory-level measurements. Then, we compared those movements to movements without the device to investigate the effects of device dynamic properties on wrist movement characteristics. Last, we investigated the effect of the device on coordination with a redundant, coordinated pointing task with the wrist and hand. For all experiments, smoothness characteristics were preserved in the robotic kinematic measurement and only marginally impacted by robot dynamics, validating the exoskeletons for use as assessment devices. Stemming from these results, we propose design guidelines for exoskeletal assessment devices.

show abstract

“…Devices rely on a variety of features, from passive degrees of freedom [4] to anatomically designed wrist mechanisms [14], to align exoskeleton joints to the complex rotations in the wrist. However, preventing kinematic overconstraint is not enough to ensure that robotic joint measurements are accurate reflections of human joint measurements, in particular when unmeasured movement is part of the design.…”

Section: Introductionmentioning

confidence: 99%

Estimating anatomical wrist joint motion with a robotic exoskeleton

Rose¹,

Kann²,

Deshpande³

et al. 2017

2017 International Conference on Rehabilitation Robotics (ICORR)

View full text Add to dashboard Cite

Abstract-Robotic exoskeletons can provide the high intensity, long duration targeted therapeutic interventions required for regaining motor function lost as a result of neurological injury. Quantitative measurements by exoskeletons have been proposed as measures of rehabilitative outcomes. Exoskeletons, in contrast to end effector designs, have the potential to provide a direct mapping between human and robot joints. This mapping rests on the assumption that anatomical axes and robot axes are aligned well, and that movement within the exoskeleton is negligible. These assumptions hold well for simple one degree-of-freedom joints, but may not be valid for multiarticular joints with unique musculoskeletal properties such as the wrist. This paper presents an experiment comparing robot joint kinematic measurements from an exoskeleton to anatomical joint angles measured with a motion capture system. Joint-space position measurements and task-space smoothness metrics were compared between the two measurement modalities. The experimental results quantify the error between joint-level position measurements, and show that exoskeleton kinematic measurements preserve smoothness characteristics found in anatomical measures of wrist movements.

show abstract

Hyperstaticity for ergonomie design of a wrist exoskeleton

Cited by 10 publications

References 11 publications

A Review on Design of Upper Limb Exoskeletons

A Review on Design of Upper Limb Exoskeletons

Assessing Wrist Movement With Robotic Devices

Estimating anatomical wrist joint motion with a robotic exoskeleton

Contact Info

Product

Resources

About