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Design and Control of a Novel Pneumatic Soft Upper Limb Exoskeleton for Rehabilitation

  • Qiaoling MengEmail author
  • Zhongzhe Chen
  • Yingchen Li
  • Zhenji Tian
  • Zhiyu Wu
  • Lei Li
  • Xi Tang
  • Xiao Cui
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 576)

Abstract

The upper limb joints are easy to dislocate in the early stage of stroke. The protection of upper limb joints is particularly important in the early rehabilitation. This paper proposed a novel upper soft exoskeleton system, which can solve the risk of dislocation of the shoulder joint in the early stage of rehabilitation. The soft exoskeleton protected the shoulder joints through multi-chamber airbag mechanisms and designed a branches mechanism at elbow joints for the upper limb movement. The rehabilitation of the soft exoskeleton was the massage of upper limbs by filling and deflating the air chambers while the thin-film pressure sensors to collect and feedback the pressure of human epidermis. The kinematic analysis of the soft exoskeleton was established, and the substitution of data was done to verify the correctness of the mechanism of the soft exoskeleton. As a result, the experiments showed that the pressure sensor data was basically consistent with the theoretical values. The massage effect was remarkable, which was suitable for the rehabilitation of stroke patients at different stages.

Keywords

Soft exoskeleton Stroke Rehabilitation training Pneumatic driven 

Notes

Acknowledgements

This project was supported by the National Natural Science Foundation of China (61803265).

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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Qiaoling Meng
    • 1
    • 2
    • 3
    Email author
  • Zhongzhe Chen
    • 1
    • 2
    • 3
  • Yingchen Li
    • 1
    • 2
    • 3
  • Zhenji Tian
    • 1
    • 2
    • 3
  • Zhiyu Wu
    • 1
    • 2
    • 3
  • Lei Li
    • 1
    • 2
    • 3
  • Xi Tang
    • 1
    • 2
    • 3
  • Xiao Cui
    • 4
  1. 1.Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food EngineeringUniversity of Shanghai for Science and TechnologyShanghaiPeople’s Republic of China
  2. 2.Shanghai Engineering Research Center of Assistive DevicesShanghaiPeople’s Republic of China
  3. 3.Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil AffairsShanghaiPeople’s Republic of China
  4. 4.Department of RehabilitationShanghai Changning Tianshan Traditional Chinese Medicine HospitalShanghaiPeople’s Republic of China

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