Improvement of human–machine compatibility of upper-limb rehabilitation exoskeleton using passive joints

Zhang, Leiyu; Li, Jianfeng; Su, Peng; Song, Yanming; Dong, Mingjie; Cao, Qiang

doi:10.1016/j.robot.2018.10.012

Cited by 26 publications

(13 citation statements)

References 14 publications

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“…For a description of the human anatomy and clinical applications, the basic movement of the human arm is abduction/adduction ( α ) around the sagittal axis ( y ), flexion/extension ( β ) around the coronal axis ( x ), and internal/external ( γ ) around the vertical axis ( z ), which is based on the anatomical description method [ 45 ]. The elevation plane ( η ), the elevation angle ( θ ), and the internal/external rotation angle ( ψ ) are the basic variables of the ISB.…”

Section: Resultsmentioning

confidence: 99%

A Modified Kinematic Model of Shoulder Complex Based on Vicon Motion Capturing System: Generalized GH Joint with Floating Centre

Zhang

Dong

et al. 2020

Sensors

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Due to the complex coupling motion of shoulder mechanism, only a small amount of quantitative information is available in the existing literature, although various kinematic models of the shoulder complex have been proposed. This study focused on the specific motion coupling relationship between glenohumeral (GH) joint center displacement variable quantity relative to the thorax coordinate system and humeral elevation angle to describe the shoulder complex. The mechanism model of shoulder complex was proposed with an algorithm designed. Subsequently, twelve healthy subjects performed right arm raising, lowering, as well as raising and lowering (RAL) movements in sixteen elevation planes, and the motion information of the markers attached to the thorax, scapula, and humerus was captured by using Vicon motion capturing system. Then, experimental data was processed and the generalized GH joint with floating center was quantized. Simultaneously, different coupling characteristics were detected during humerus raising as well as lowering movements. The motion coupling relationships in different phases were acquired, and a modified kinematic model was established, with the description of overall motion characteristics of shoulder complex validated by comparing the results with a prior kinematic model from literature, showing enough accuracy for the design of upper limb rehabilitation robots.

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Section: Resultsmentioning

confidence: 99%

A Modified Kinematic Model of Shoulder Complex Based on Vicon Motion Capturing System: Generalized GH Joint with Floating Centre

Zhang

Dong

et al. 2020

Sensors

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“…Some devices even enhance lower extremity performance [12][13][14][15] to provide better mobility to patients with knee injuries or other kinds of loss of function in the lower extremities. For the arms, many types of assistive exoskeleton device have been described [16][17][18][19][20][21], and most devices can be combined with other adapted equipment. However, only a few assistive exoskeleton rehabilitation devices for the hand have been described, mostly due to the complexity in the structure of the hand and the large range of motion that the fingers, making design for a hand assistive device very difficult.…”

Section: Introductionmentioning

confidence: 99%

Design and Development of a Wearable Exoskeleton System for Stroke Rehabilitation

Wang

Chang

et al. 2020

Healthcare

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For more than a decade, many countries have been actively developing robotic assistive devices to assist in the rehabilitation of individuals with limb disability to regain function in the extremities. The exoskeleton assistive device in this study has been designed primarily for hemiplegic stroke patients to aid in the extension of fingers to open up the palm to simulate the effects of rehabilitation. This exoskeleton was designed as an anterior-support type to achieve palmar extension and acts as a robotic assistive device for rehabilitation in bilateral upper limb task training. Testing results show that this wearable exoskeleton assistive device with human factor consideration using percentile dimensions can provide comfortable wear on patients as well as adequate torque to pull individual fingers into flexion towards the palm for rehabilitation. We hope this exoskeleton device can help stroke patients with loss of function in the upper extremities to resume motor activities in order to maintain activities of daily living.

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“…For the purpose of evaluating the task-space operation capability of industrial robots working with an end-effector, different performance indices, including the dexterity measure, minimum singular value and manipulability ellipsoid, are usually utilized, and these indices can all be defined based on the Jacobian matrices mapping the velocity and force from a robotic joint (actuator) space to the Cartesian (end-effector) space. [20][21][22] However, unlike end-effector manipulation robots, the task space of a wearable exoskeleton corresponds to the joint space of the human body, and the velocity and force must be transferred from the active joint space of the exoskeleton to the wearer's joint space. Consequently, it is more reasonable to define the evaluation indices on the basis of matrices which reflect the velocity and force mapping relationships between the two joint spaces.…”

Section: Introductionmentioning

confidence: 99%

Velocity and Force Transfer Performance Analysis of a Parallel Hip Assistive Mechanism

Zhang

Dong

et al. 2020

Robotica

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SUMMARYAgainst the backdrop of accelerated ageing around the globe, an increasing number of individuals suffer from hip motion disability and gait disorders. In this paper, the performance analysis of a novel parallel assistive mechanism with 2 DOF for hip adduction/abduction (AB/AD) and flexion/extension (FL/EX) assistance is completed and evaluated, particularly the velocity and force transfer features. The analysis shows that the assistive mechanism has advantages of fine motion assistive isotropy, high force transfer ratio and large force isotropic radius, which indicates that the parallel assistive mechanism is suitable for hip AB/AD and FL/EX assistance.

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Improvement of human–machine compatibility of upper-limb rehabilitation exoskeleton using passive joints

Cited by 26 publications

References 14 publications

A Modified Kinematic Model of Shoulder Complex Based on Vicon Motion Capturing System: Generalized GH Joint with Floating Centre

A Modified Kinematic Model of Shoulder Complex Based on Vicon Motion Capturing System: Generalized GH Joint with Floating Centre

Design and Development of a Wearable Exoskeleton System for Stroke Rehabilitation

Velocity and Force Transfer Performance Analysis of a Parallel Hip Assistive Mechanism

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