Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments

Galiana, Ignacio; Hammond, Frank L.; Howe, Robert D.; Popović, Marko B.

doi:10.1109/iros.2012.6385786

Cited by 106 publications

(68 citation statements)

References 13 publications

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“…For example, the use of a 3RRR spherical parallel shoulder mechanism [26], or a special 3-link shoulder mechanism allowing scapula motion [27]. In [28], a compliant soft-orthotic device is used to prevent misalignments.…”

Section: Resultsmentioning

confidence: 99%

“…The forces from the actuators are transmitted to the joints with cables [28,30,[32][33][34]. Since cables can only transfer tension forces, a combination of cables around the arm is used.…”

Section: Resultsmentioning

confidence: 99%

“…This is mainly due to local actuators or a large structure on the back, where all the actuators are situated. Only in [28] a device is shown that stays close to the body. It should be mentioned that this device only supports shoulder abduction/adduction.…”

Section: Resultsmentioning

confidence: 99%

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A review of assistive devices for arm balancing

Dunning

Herder

2013

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)

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Due to neuromuscular disorders (e.g., Duchenne Muscular Dystrophy) people often loose muscle strength and become wheelchair bound. It is important to use muscles as much as possible. To allow this, and to increase independency of patients, an arm orthosis can be used to perform activities of daily life. The orthosis compensates for the gravity force of the arm, allowing people to perform movements with smaller muscle forces. For patients, the aesthetics of the orthosis is one of the critical issues. This paper presents the state-of-the-art in passive and wearable active arm orthoses, and investigates how to proceed towards a suitable structure for a wearable passive arm orthosis, that is able to balance the arm within its natural range of motion and is inconspicuous; in the ideal case it fits underneath the clothes. Existing devices were investigated with respect to the body interface, the volume, and the workspace. According to these evaluation metrics it is investigated to what extent the devices are wearable and inconspicuous. Furthermore, the balancing principle of the devices, the architecture, force transmission through the devices, and alignment with the body joints are investigated. It appears that there is only one wearable passive orthosis presented in literature. This orthosis can perform throughout the natural workspace of the arm, but is still too bulky to be inconspicuous. The other passive orthoses were conspicuous and mounted to the wheelchair. Except one, the wearable active orthoses were all conspicuous and heavy due to a large backpack to enclose the actuators. They also could not achieve the entire natural workspace of the human arm. A future design of an inconspicuous, wearable, passive arm orthoses should stay close to the body, be comfortable to wear, and supports pronation and supination.

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Section: Resultsmentioning

confidence: 99%

“…The forces from the actuators are transmitted to the joints with cables [28,30,[32][33][34]. Since cables can only transfer tension forces, a combination of cables around the arm is used.…”

Section: Resultsmentioning

confidence: 99%

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A review of assistive devices for arm balancing

Dunning

Herder

2013

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)

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“…In these devices, mechanical joints of the orthosis correspond to the human joints of the limbs, sustaining them in the movement. 6 Exoskeleton machines are widely explored in the fields of human motion recovery, [7][8][9][10][11][12] assistive automation, [13][14][15][16][17][18] human power amplification, 19 deficiency appraisal, 1 resistance trainings, 20 and haptic collaboration in tele-operated and simulated settings. 16,21 Their increasing importance was driven by their potential in improving the quality of life for the individuals who need external assistance.…”

Section: Introductionmentioning

confidence: 99%

ERRSE: Elbow Robotic Rehabilitation System with an EMG-Based Force Control

Tiboni

Legnani

Lancini

et al. 2017

Mechanisms and Machine Science

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Physical rehabilitation based on robotic systems has the potential to cover the patient's need of improvement of upper extremity functionalities. In this article, the state of the art of resistant and assistive upper limb exoskeleton robots and their control are thoroughly investigated. Afterward, a single-degree-of-freedom exoskeleton matching the elbowforearm has been advanced to grant a valid rehabilitation therapy for persons with physical disability of upper limb motion. The authors have focused on the control system based on the use of electromyography signals as an input to drive the joint movement and manage the robotics arm. The correlation analysis between surface electromyography signal and the force exerted by the subject was studied in objects' grasping tests with the purpose of validating the methodology. The authors developed an innovative surface electromyography force-based active control that adjusts the force exerted by the device during rehabilitation. The control was validated by an experimental campaign on healthy subjects simulating disease on an arm, with positive results that confirm the proposed solution and that open the way to future researches.

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“…new design, soft exoskeletons, overcome such limitations by removing rigid frame structures and mechanical joints. Such systems include active soft orthotic devices for assistance of ankle [7], [8] and knee [9], [10] motions, a compliant exosuit for improved metabolic energy efficiency through active gait assistance [11], and upper extremity rehabilitation with cable-driven [12] and pneumatic muscle [13] actuations. The design of soft exoskeletons is guided by the biomechanical properties of the human body so that synthetic components harness the elastic properties of soft tissue and the mechanical advantage of the skeletal levers.…”

Section: Introductionmentioning

confidence: 99%

A soft wearable robotic device for active knee motions using flat pneumatic artificial muscles

Park

Santos

Galloway

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

140

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We present the design of a soft wearable robotic device composed of elastomeric artificial muscle actuators and soft fabric sleeves, for active assistance of knee motions. A key feature of the device is the two-dimensional design of the elastomer muscles that not only allows the compactness of the device, but also significantly simplifies the manufacturing process. In addition, the fabric sleeves make the device lightweight and easily wearable. The elastomer muscles were characterized and demonstrated an initial contraction force of 38N and maximum contraction of 18mm with 104kPa input pressure, approximately. Four elastomer muscles were employed for assisted knee extension and flexion. The robotic device was tested on a 3D printed leg model with an articulated knee joint. Experiments were conducted to examine the relation between systematic change in air pressure and knee extensionflexion. The results showed maximum extension and flexion angles of 95 • and 37 • , respectively. However, these angles are highly dependent on underlying leg mechanics and positions. The device was also able to generate maximum extension and flexion forces of 3.5N and 7N, respectively.

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Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments

Cited by 106 publications

References 13 publications

A review of assistive devices for arm balancing

A review of assistive devices for arm balancing

ERRSE: Elbow Robotic Rehabilitation System with an EMG-Based Force Control

A soft wearable robotic device for active knee motions using flat pneumatic artificial muscles

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