Study of a Hybrid Actuated Exoskeleton for Upper Limb Rehabilitation

Chakarov, Dimitar; Veneva, Ivanka; Tsveov, Mihail; Venev, Pavel

doi:10.5220/0009884504980505

Cited by 2 publications

(4 citation statements)

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“…The coordinate systems

follow the rules of the Denavit–Hartenberg convention [ 43 , 44 ]. With the Denavit–Hartenberg method (DH method), it is possible to determine the relative position and orientation of two neighboring coordinate systems within a kinematic chain in three-dimensional space with only four instead of the usual six parameters—e.g., used in [ 4 , 13 ]. The following parameters (DH parameter) are used for the implementation of the DH method [ 43 , 44 ]: Joint angle

of the joint axis

describes the angle of rotation from the axis

to the axis

around the axis

.…”

Section: Materials and Methodsmentioning

confidence: 99%

“…In the wearable healthcare market alone, a volume of USD 46.6 billion is predicted for the year 2025. Additional fields of application, such as robot control and teleoperation [ 4 , 5 , 6 , 7 ], medicine and rehabilitation [ 8 , 9 , 10 , 11 , 12 , 13 ] or translation of sign language [ 14 , 15 , 16 , 17 , 18 , 19 , 20 ] and more (cp. [ 21 ]), add to that volume.…”

Section: Introductionmentioning

confidence: 99%

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SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand

2023

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For technical or medical applications, the knowledge of the exact kinematics of the human hand is key to utilizing its capability of handling and manipulating objects and communicating with other humans or machines. The optimal relationship between the number of measurement parameters, measurement accuracy, as well as complexity, usability and cost of the measuring systems is hard to find. Biomechanic assumptions, the concepts of a biomechatronic system and the mechatronic design process, as well as commercially available components, are used to develop a sensorized glove. The proposed wearable introduced in this paper can measure 14 of 15 angular values of a simplified hand model. Additionally, five contact pressure values at the fingertips and inertial data of the whole hand with six degrees of freedom are gathered. Due to the modular design and a hand size examination based on anthropometric parameters, the concept of the wearable is applicable to a large variety of hand sizes and adaptable to different use cases. Validations show a combined root-mean-square error of 0.99° to 2.38° for the measurement of all joint angles on one finger, surpassing the human perception threshold and the current state-of-the-art in science and technology for comparable systems.

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“…The coordinate systems

of the joint axis

describes the angle of rotation from the axis

to the axis

around the axis

.…”

Section: Materials and Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand

2023

View full text Add to dashboard Cite

show abstract

“…Hybrid solutions with pneumatic actuators acting in parallel with electric ones have been proposed. Chakarov et al, in [ 100 ], presented an exoskeleton with hybrid electric-pneumatic actuation, in which the pneumatic drive takes care of the initial reaction of the force, and the electric drive complements the pneumatic drive. Aguilar-Sierra et al, in [ 101 ], described a LLE in which two types of actuators are applied: DC motors with the harmonic drive and PAMs.…”

Section: Analytical Reviewmentioning

confidence: 99%

“…Forearm p1. Rehabilitation/Medical applications [ 81 ]

; [ 82 ]

; [ 106 ]; [ 118 ]

; [ 169 ]

; [ 100 ]; [ 170 ]

; [ 111 ]

; [ 171 ]

; [ 172 ]

; [ 99 ]

; [ 173 ]

; [ 86 ]

; [ 115 ]; [ 119 ]

; [ 25 ]; [ 73 ]; [ 103 ]

; [ 174 ]

; [ 58 ] …”

Section: Figure A1mentioning

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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Study of a Hybrid Actuated Exoskeleton for Upper Limb Rehabilitation

Cited by 2 publications

References 0 publications

SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand

SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand

Sensors and Actuation Technologies in Exoskeletons: A Review

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