Abstract
This paper presents the first design results of an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to a regular and efficient rehabilitation training as well as arm tasks motion assistance for weak and injured people without the continuous presence of a therapist. The exoskeleton being a wearable robotic device attached to the human arm, the user provides information signals to the controller In order to generate the appropriate control signals for different training strategies and paradigms. This upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints, with a mobile center of rotation mechanism for the shoulder abduction / adduction motion in order to match the human shoulder anatomy.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
L.L. Cai, A.J. Fong, Y. Liang and J. Burdick, “Assist-as-needed training paradigms for robotic rehabilitation of spinal cord injuries”, IEEE International conference on robotics and automation, Orlando, Florida, Mai 2006, pp.3504–3511.
Y. Hirata, A. Muraki, and K. Kosuge, “Motion control of intelligent passive-type walker for fall-prevention function based on estimation of user state”, IEEE International conference on robotics and automation, Orlando, Florida, Mai 2006, pp.3498–3503.
Y. Mori, J Okada, and K Takayama, “Development of a standing style transfer system “ABLE” for disabled lower limbs”, IEEE/ASME Transactions on mechatronics, Vol.11, No.4, August 2006.
K. Bharadwaj and T.G. Sugar, “Kinematics of a robotic gait trainer for stroke rehabilitation”, IEEE International conference on robotics and automation, Orlando, Florida, Mai 2006, pp.3492–3497.
H.K Low, X. Liu, and H. Yu, “Development of NTU wearable exoskeleton system for assistive technologies”, IEEE International conference on mechatronics and automation, Niagara Falls, Canada, July 2005, pp.1099–1106.
J. Ghan and H. Kazerooni, “System identification for the Berkeley lower extremity exoskeleton (BLEEX)”, IEEE International conference on robotics and automation, Orlando, Florida, Mai 2006, pp.3477–3484.
R. Steger, S.H. Kim, H. Kazerooni, “Control scheme and networked control Architecture for the Berkeley lower extremity exoskeleton (BLEEX)”, IEEE International conference on robotics and automation, Orlando, Florida, Mai 2006, pp.3469–3476.
C.J. Walsh, D. Paiuska, K. Pasch, W. Grand, A. Valiente, and H. Herr, “Development of a lightweight, underactuated exoskeleton for load-carrying augmentation”, IEEE International conference on robotics and automation, Orlando, Florida, Mai 2006, pp.3485–3491.
K. Kiguchi, M.H. Rahman, and M. Sasaki, “Neuro-Fuzzy based motion control of a robotic exoskeleton: considering end-effector force vectors”, IEEE International conference on robotics and automation, Orlando, Florida, Mai 2006, pp.3146–3151.
E. Rocon, A.F. Ruiz, F. Brunetti, and J.L. Pons, “On the use of an active wearable exoskeleton for tremor suppression via biomechanical loading”, IEEE International conference on robotics and automation, Orlando, Florida, Mai 2006, pp.3140–3145.
K. Kiguchi, Y. Imada, and M. Lianage, “EMG-Based Neuro-Fuzzy Control of a 4DOF power-assist exoskeleton”, 29th IEEE EMBS International conference, Cité internationale, Lyon, France, August 2007, pp.3040–3043.
R. Song, K.Y. Tong, X.L. Hu, S.F. Tsang, and L. Li, “The therapeutic effects of myoelectrically controlled robotic system for persons after stroke-A pilot study”, 28th IEEE EMBS International conference, New York city, USA, August–September 2006, pp.3504–3511.
K. Kiguchi, R. Esaki, T. Tsuruta K. Watanabe, and T. Fukuda, “An exoskeleton for human elbow and forearm motion assist”, IEEE/RSJ International conference on intelligent robots and systems, Las Vegas, Nevada, October 2003, pp.3600–3605.
T. Nef, M. Mihelj, G. Colombo, and R. Reiner, “ARMin-Robot for rehabilitation of the upper extremities”, IEEE International conference on robotics and automation, Orlando, Florida, Mai 2006, pp.3152–3157.
M. Mihelj, T. Nef, and R. Reiner, “ARMin II-7DOF rehabilitation robot: mechanics and kinematics”, IEEE International conference on robotics and automation, Romania, Italy, April 2007, pp.4120–4125.
A. Denève, “Développement et commande d’un robot pour la rééducation des membres supérieurs”, Ph.D. dissertation, University of Reims Champagne-Ardenne, France, 2007.
M. A. Buckley and G. R. Johnson, “Computer simulation of the dynamics of a human arm and orthosis linkage mechanism”, Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medecine, 1997, vol. 211, pp.349–357.
H. A. Abdullah, C. Tarry, G. S. Mittal and M. Abderrahim, “A biomechanical model to aid robot-assisted theraby of upper limb impairment”, Proceedings of MCBMS’06, France, 2006.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Moubarak, S., Pham, M.T., Pajdla, T., Redarce, T. (2009). Design Results of an Upper Extremity Exoskeleton. In: Vander Sloten, J., Verdonck, P., Nyssen, M., Haueisen, J. (eds) 4th European Conference of the International Federation for Medical and Biological Engineering. IFMBE Proceedings, vol 22. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89208-3_401
Download citation
DOI: https://doi.org/10.1007/978-3-540-89208-3_401
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-89207-6
Online ISBN: 978-3-540-89208-3
eBook Packages: EngineeringEngineering (R0)