Modular design and modeling of an upper limb exoskeleton

Garrido, Javier; Yu, Wen; Soria, Alberto

doi:10.1109/biorob.2014.6913828

Cited by 14 publications

(10 citation statements)

References 27 publications

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“…Passive trajectory tracking This can be achieved with the help of many different techniques. The simplest of these techniques is the use of proportional integral derivative feedback control, which regulates the position of the force along a specified trajectory [115,116]. Diverse techniques exist for characterizing reference trajectories.…”

Section: Passive Controlmentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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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.

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Section: Passive Controlmentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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“…• Correction defines the rehabilitation situation in which the robot is only acting when the patient is not performing the movement correctly, forcing the impaired limb to recover a desired inter-joint coordination. • Resistance represents the techniques in which the robot opposes forces to the motion (potentially increasing the current error, for example) in order to make the task more [32] New Zealand 2014 5 e uh ABLE [33] France 2008 4 e uf [34] ALEx [35] Italy 2013 4 e ufh AssistOn-SE [36] Turkey 2012 6 e ufh CAREX [37] USA 2009 5 e suf CINVESRobot-1 [38] Mexico 2014 4 e uf L-Exos [39] Italy complex for the subject, and to train his ability to correct the movement and to adapt to external perturbations.…”

Section: Available Control Strategiesmentioning

confidence: 99%

“…The simplest is the use of a proportional-integral-derivative (PID) feedback control which usually regulates the position or the interaction force along a known reference (for example, a trajectory or a force field model), and can be applied either at the joint or at the end-effector level. Examples of these joint controllers are shown in [38], [52], [60], [43], [61], [47], [62], [41].…”

Section: A Assistive Modesmentioning

confidence: 99%

Upper-Limb Robotic Exoskeletons for Neurorehabilitation: A Review on Control Strategies

Proietti

Crocher

Roby-Brami

et al. 2016

IEEE Rev. Biomed. Eng.

291

225

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Since the late 1990s, there has been a burst of research on robotic devices for poststroke rehabilitation. Robot-mediated therapy produced improvements on recovery of motor capacity; however, so far, the use of robots has not shown qualitative benefit over classical therapist-led training sessions, performed on the same quantity of movements. Multidegree-of-freedom robots, like the modern upper-limb exoskeletons, enable a distributed interaction on the whole assisted limb and can exploit a large amount of sensory feedback data, potentially providing new capabilities within standard rehabilitation sessions. Surprisingly, most publications in the field of exoskeletons focused only on mechatronic design of the devices, while little details were given to the control aspects. On the contrary, we believe a paramount aspect for robots potentiality lies on the control side. Therefore, the aim of this review is to provide a taxonomy of currently available control strategies for exoskeletons for neurorehabilitation, in order to formulate appropriate questions toward the development of innovative and improved control strategies.

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“…In general, the designs on exoskeleton systems for upper-limb rehabilitation can be classified into the shoulder-elbow-wrist motion, shoulder-elbow motion and elbow-wrist motion [10]. In the supported motion of shoulder-elbow, research groups have designed various serial types of robotic exoskeletons for rehabilitation investigations like ALEx [11], CINVESRobot-1 [12], and AssistOn-SE [13]. While inspired by the human anatomy, the shoulder joint in our developed 4-DOFs of robotic exoskeleton for supported shoulder-elbow motion is a ballsocket joint.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Motion Control of a Cable-Driven Robotic Exoskeleton With Pneumatic Artificial Muscle Actuators

et al. 2020

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This paper presents the design, dynamic modeling and motion control of a novel cable-driven upper limb robotic exoskeleton for a rehabilitation exercising. The proposed four degree-of-freedom robotic exoskeleton, actuated by pneumatic artificial muscle actuators, is characterized by a safe, compact, and lightweight structure, complying with the motion of an upper limb as close as possible. In order to perform a passive rehabilitation exercise, the dynamic models were developed by the Lagrange formulation in terms of quasi coordinates combined with the virtual work principle, and then the adaptive fuzzy sliding mode control was designed for the rehabilitation trajectory control. Finally, rehabilitation experiments were conducted to validate the prototype of upper limb robotic exoskeleton and the controller design. INDEX TERMS Pneumatic artificial muscle, robotic exoskeleton, rehabilitation, adaptive fuzzy sliding mode control.

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Modular design and modeling of an upper limb exoskeleton

Cited by 14 publications

References 27 publications

A Review on Design of Upper Limb Exoskeletons

A Review on Design of Upper Limb Exoskeletons

Upper-Limb Robotic Exoskeletons for Neurorehabilitation: A Review on Control Strategies

Dynamic Modeling and Motion Control of a Cable-Driven Robotic Exoskeleton With Pneumatic Artificial Muscle Actuators

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