Right-Arm Robotic-Aided-Therapy with the Light-Exoskeleton: A General Overview

Abstract

Abstract. Rehabilitation robotics applications and their developments have been spreading out as consequences of the actual needs in the human activities of daily living (ADL). Exoskeletons for rehabilitation are one of them, whose intrinsic characteristics are quite useful for applications where repetitive, robustness and accurate performance are a must. As a part of robotic-mediatedrehabilitation programme into the worldwide, the exoskeletons are trying to improve the ADL of disable people through the fusion of several disciplines that lets to expand the capabilities of wearing a powered robotic exoskeletal device for rehabilitation tasks. This fact deserves to present this contribution from a general scope point of view, i.e., the technologies integration and its associated knowledge. So far, the Light-Exoskeleton which is intended for human arm rehabilitation in post-stroke patients is introduced. Preliminary experimental results as well as the involved stages about the system show the capabilities of using a robotic-constrained-rehabilitation for human arm.

Wearable Haptic Systems for the Fingertip and the Hand: Taxonomy, Review, and Perspectives

“…The quick increase in contact area leads to a recruitment of mechanoreceptors correlated with contact force, which partly explains high sensitivity for small 207 forces [24]. Apart from statics, deformation dynamics 208 should also be considered, as the normal loading changes 209 significantly with speed of impact [25]; such facts may affect 210 sensation of pressure, stiffness and other material properties 211 to be displayed. When feeling a surface with a radius of curvature larger 214 than the finger, the position of the finger follows a 2-dimen- 215 sional trajectory (proprioceptive cue), and the angle of the 216 surface normal changes relative to the finger (cutaneous 217 cue).…”

“…Iqbal et al [194] [195], [196], 1178 [197], [198], [199]. For example, the latest hand exoskeleton applications, such as robot-assisted surgery [206], guidance 1226 of visually-impaired people [207], virtual reality [208], [209], 1227 [210], rehabilitation [211], [212], [213], and enhanced cine-1228 matic experiences [184] (see Fig. 5c).…”