Toward Avoiding Misalignment: Dimensional Synthesis of Task-Oriented Upper-Limb Hybrid Exoskeleton

Abstract

One of the primary reasons for wearable exoskeleton rejection is user discomfort caused by misalignment between the coupled system, i.e., the human limb and the exoskeleton. The article focuses primarily on the solution strategies for misalignment issues. The purpose of this work is to facilitate rehabilitative exercise-based exoskeletons for neurological and muscular disorder patients, which can aid a user in following the appropriate natural trajectory with the least amount of misalignment. A double four-bar planar configuration is used for this purpose. The paper proposes a methodology for developing an optimum task-oriented upper-limb hybrid exoskeleton with low active degrees-of-freedom (dof) that enables users to attain desired task space locations (TSLs) while maintaining an acceptable range of kinematic performance. Additionally, the study examines the influence of an extra restriction placed at the elbow motion and the compatibility of connected systems. The findings and discussion indicate the usefulness of the proposed concept for upper-limb rehabilitation.

A Trade-Off between Complexity and Interaction Quality for Upper Limb Exoskeleton Interfaces

“…On the one hand, non-anthropomorphic designs refer to exoskeletons that violate their most widespread definition [17]: "an exoskeleton is an external structural mechanism with joints and links corresponding to those of the human body". For example, recent works based on a modular synthesis approach have led to the introduction of two four-bar mechanisms in series to design an upper limb exoskeleton [18,19]. Overall, numerous designs have been proposed for the main joints of both the upper [20][21][22] and lower [23][24][25][26][27] human limbs.…”

Exoskeleton Design Using Kinematics Analysis for Upper Limb Rehabilitation in Post-Stroke Patients

“…The exoskeleton model must meet the convenience and adjustment of the rehabilitation robot. In the last decade, several studies have shown the development of research on the structural design of exoskeleton rehabilitation robots to help post-stroke patients [10], [11]. The result was due to the different mechanical structures and rehabilitation principles.…”