Two-Degree Adjustable Exoskeleton for Assistance of the Human Arm Using a Mechanical System of Fast Assembly and Upgradability

Restrepo-Zapata, Julio; Gallego-Duque, Carlos; Márquez-Viloria, David; Botero-Valencia, Juan S.

doi:10.21307/ijssis-2017-221

Cited by 2 publications

(3 citation statements)

References 22 publications

(28 reference statements)

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“…Several related works investigated HRA concepts which can be manually adapted to the user's arm shape (e.g., Restrepo-Zapata et al [32], Chen et al [33], or Chui et al [34]) or incorporate custom, thermoformed shells (e.g., Vitiello et al [35]). The drawback that they have in common is a timeconsuming adaption procedure, either for manual adaption of the setting screws or to manufacture and handle the custom parts.…”

Section: B Specialized Attachment Systemsmentioning

confidence: 99%

“…Usability: Concepts involving closed structures like the one presented by Restrepo-Zapata et al [32] are not suitable for patients with strong spastic tone. Some mechanisms such as the one used on ASSISTON and CAREX-7 [33], [34] are likely to take a long time to don and doff, particularly when self-attaching.…”

Section: Limitations Of Related Workmentioning

confidence: 99%

“…Low Constraints on System: Many attachment systems in the state of the art have been built with fixed outer structures, e.g., [11], [32]- [35]. Thereby, users with thinner arms will experience an unnecessary reduction of the ROM.…”

Section: Limitations Of Related Workmentioning

confidence: 99%

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Human–Robot Attachment System for Exoskeletons: Design and Performance Analysis

et al. 2023

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Exoskeleton robots found application in neurorehabilitation, tele-manipulation, and power augmentation. The human-robot attachment system of an exoskeleton should transmit all interaction forces while keeping the anatomical and robotic joint axes aligned. Existing attachment concepts were bounding the performance of modern exoskeletons due to insufficient stiffness for high-performance force control, timeconsuming adaption processes, and/or bulkiness. Therefore, we developed an augmented attachment system for a recent fully actuated 9-DOF upper limb exoskeleton. The proposed system was compared to a conventional solution in a case study with four participants.The proposed attachment system lowered the relative motion between human and robot under static loads for all defined landmarks by 45 % on average. The occurrence of undesired contacts in the trials was mitigated by 74 %, thus, improving conditions for closed-loop force control. Further, the proposed system adapted better to the user's anatomy facilitating more accurate alignment and less obstruction. On average, selfattachment took 43(8.3) s to don(doff). Thereby, the alignment of anatomic landmarks had typically less than 15 mm offset to a thorough expert alignment, making self-attachment eligible. The augmented attachment system and the insights gained by the case study are expected to enable improvement of the physical human-robot interaction of exoskeletons.

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