Using the Bioelectric Signals to Control of Wearable Orthosis of the Elbow Joint with Bi-Muscular Pneumatic Servo-Drive

Dindorf, R.; Woś, P.

doi:10.1017/s0263574719001097

Cited by 13 publications

(5 citation statements)

References 29 publications

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“…In the same sense, [20] uses a series of servo-actuators for the development of a walking assistance robot. Although their application focuses on the development of Body Weight Support (BWS) systems as in [21], these systems are considered a suitable approach to the use of servo-actuators for demanding applications in terms of torque and versatility. Some other developments show devices implemented to allow the mobility of the upper limbs.…”

Section: Servo-driven Systems In Robotic Exoskeletonsmentioning

confidence: 99%

Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton

Vélez-Guerrero

Callejas-Cuervo

Mazzoleni

2021

Sensors

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Mechatronic systems that allow motorized activation in robotic exoskeletons have evolved according to their specific applications and the characteristics of the actuation system, including parameters such as size, mechanical properties, efficiency, and power draw. Additionally, different control strategies and methods could be implemented in various electronic devices to improve the performance and usability of these devices, which is desirable in any application. This paper proposes the integration and testing of a high-torque, servo-driven joint and its electronic controller, exposing its use in a robotic exoskeleton prototype as a case study. Following a brief background review, the development and implementation of the proposal are presented, allowing the control of the servo-driven joint in terms of torque, rotational velocity, and position through a straightforward, closed-loop control architecture. Additionally, the stability and performance of the servo-driven joint were assessed with and without load. In conclusion and based on the obtained results, the servo-driven joint and its control system demonstrate consistent performance under the proposed test protocol (max values: angular velocity 97 °/s, torque 33 Nm, positioning RMSE 1.46°), enabling this approach for use in various applications related to robotic exoskeletons, including human performance enhancement, rehabilitation, or support for daily living activities.

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Section: Servo-driven Systems In Robotic Exoskeletonsmentioning

confidence: 99%

Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton

Vélez-Guerrero

Callejas-Cuervo

Mazzoleni

2021

Sensors

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“…Servo motors are used in hand orthoses for providing precise and smooth movements to the fingers and wrist. In an article by Dindorf and Wos in [6], an elbow orthosis with a bimuscular pneumatic servo drive which uses bioelectric signals for control is proposed. One key challenge in the integration of a bimuscular pneumatic servo drive using bioelectric signals within a virtual reality-based system lies in achieving seamless coordination and precision to ensure accurate and responsive control of the orthotic hand.…”

Section: Introductionmentioning

confidence: 99%

NOHAS: A Novel Orthotic Hand Actuated by Servo Motors and Mobile App for Stroke Rehabilitation

Selvaraj Mercyshalinie,

Ghadge,

Ifejika

et al. 2023

Robotics

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The rehabilitation process after the onset of a stroke primarily deals with assisting in regaining mobility, communication skills, swallowing function, and activities of daily living (ADLs). This entirely depends on the specific regions of the brain that have been affected by the stroke. Patients can learn how to utilize adaptive equipment, regain movement, and reduce muscle spasticity through certain repetitive exercises and therapeutic interventions. These exercises can be performed by wearing soft robotic gloves on the impaired extremity. For post-stroke rehabilitation, we have designed and characterized an interactive hand orthosis with tendon-driven finger actuation mechanisms actuated by servo motors, which consists of a fabric glove and force-sensitive resistors (FSRs) at the tip. The robotic device moves the user’s hand when operated by mobile phone to replicate normal gripping behavior. In this paper, the characterization of finger movements in response to step input commands from a mobile app was carried out for each finger at the proximal interphalangeal (PIP), distal interphalangeal (DIP), and metacarpophalangeal (MCP) joints. In general, servo motor-based hand orthoses are energy-efficient; however, they generate noise during actuation. Here, we quantified the noise generated by servo motor actuation for each finger as well as when a group of fingers is simultaneously activated. To test ADL ability, we evaluated the device’s effectiveness in holding different objects from the Action Research Arm Test (ARAT) kit. Our device, novel hand orthosis actuated by servo motors (NOHAS), was tested on ten healthy human subjects and showed an average of 90% success rate in grasping tasks. Our orthotic hand shows promise for aiding post-stroke subjects recover because of its simplicity of use, lightweight construction, and carefully designed components.

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“…The importance of this system lies in the fact that it is a prototype focused on people with cardiovascular accidents who cannot travel to health centers, thus allowing for rehabilitation at home, although health professionals have not evaluated the device. Dindorf and Wos propose a variant of orthosis for elbow rehabilitation in [ 15 ] that uses bioelectrical signals from the brain to control the rehabilitative device; for this purpose, it performed a distributed control based on electrical signals, while bi-muscular pneumatic servo motors were used to drive the system. In this study, visual feedback focused on the movement of the orthosis is used, considering the motor functions of the elbow.…”

Section: Introductionmentioning

confidence: 99%

Mechatronic Design of a Prototype Orthosis to Support Elbow Joint Rehabilitation

Rosero

Realpe

et al. 2022

Bioengineering

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Injuries in the elbow area, such as lateral and medial epicondylitis, are the leading causes of consultation with health specialists. Therefore, this research proposes the mechatronic design of an orthosis with a graphic interface that supports professionals in the rehabilitation of the elbow joint through the execution of flexion–extension and pronation–supination movements. For the development of the rehabilitation prototype, mechatronic design, co-design, and IDEF0 methodologies are used, performing activities such as actuator characterization, simulations, and modeling, among others. Through the execution of a case study in a real environment, the device was validated, where the results suggest a functional and workable prototype that supports the treatment of pathologies in the elbow area through the execution of the mentioned movements, supposing that this is a low-cost alternative with elements to improve, such as the industrial design and new functionalities. The developed proposal shows potential as an economical product that health professionals can use. However, some limitations related to the design and functionalities in the application domain were identified.

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Using the Bioelectric Signals to Control of Wearable Orthosis of the Elbow Joint with Bi-Muscular Pneumatic Servo-Drive

Cited by 13 publications

References 29 publications

Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton

Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton

NOHAS: A Novel Orthotic Hand Actuated by Servo Motors and Mobile App for Stroke Rehabilitation

Mechatronic Design of a Prototype Orthosis to Support Elbow Joint Rehabilitation

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