A 10-DEGREE OF FREEDOM EXOSKELETON REHABILITATION ROBOT WITH ERGONOMIC SHOULDER ACTUATION MECHANISM
- 1 March 2011
- journal article
- research article
- Published by World Scientific Pub Co Pte Ltd in International Journal of Humanoid Robotics
- Vol. 08 (01), 47-71
- https://doi.org/10.1142/s0219843611002344
Abstract
Due to the advantages of more intensiveness, long duration, repeatability, and task-orientation, robot-assistant training has become a promising technology in stroke rehabilitation. Regarding the upper extremity, the natural coordination called shoulder rhythm is the most challenge to the design of ergonomic shoulder exoskeleton. Based on kinematic analysis of movement of shoulder complex, a 10-degree-of-freedom (DoF) exoskeleton rehabilitation robot with six-DoF shoulder actuation mechanism driven by pneumatic muscle through Bowden cable transmitting force is proposed. The kinematic relationship between shoulder girdle motion and the humerus flexion/retroflexion and abduction/adduction was described. The compact mechanisms for cable tension and cable disconnect/connect respectively were proposed to realize the cable automatic tension and drive-unit/manipulating-unit detachment. In order to verify the manipulability of the proposed robot during assisting patient with performing activities of daily living (ADLs), the performance criteria, i.e., normalized dexterity measure and manipulability ellipsoid, are used to evaluate and compare with human upper extremity. The evaluated results confirm the ergonomic design of shoulder mechanism of the rehabilitation robot that can provide approximate dexterity of human upper extremity in ADLs.Keywords
This publication has 21 references indexed in Scilit:
- Design, Implementation and Clinical Tests of a Wire-Based Robot for NeurorehabilitationIEEE Transactions on Neural Systems and Rehabilitation Engineering, 2007
- Design and Control of RUPERT: A Device for Robotic Upper Extremity Repetitive TherapyIEEE Transactions on Neural Systems and Rehabilitation Engineering, 2007
- Upper-Limb Powered Exoskeleton DesignIEEE/ASME Transactions on Mechatronics, 2007
- Kinematic Design to Improve Ergonomics in Human Machine InteractionIEEE Transactions on Neural Systems and Rehabilitation Engineering, 2006
- Automating Arm Movement Training Following Severe Stroke: Functional Exercises With Quantitative Feedback in a Gravity-Reduced EnvironmentIEEE Transactions on Neural Systems and Rehabilitation Engineering, 2006
- Systematic review of the effect of robot-aided therapy on recovery of the hemiparetic arm after strokeJournal of Rehabilitation Research and Development, 2006
- Evidence for improved muscle activation patterns after retraining of reaching movements with the MIME robotic system in subjects with post-stroke hemiparesisIEEE Transactions on Neural Systems and Rehabilitation Engineering, 2004
- Upper Limb Robot Mediated Stroke Therapy—GENTLE/s ApproachAutonomous Robots, 2003
- Determination of Functional Rotation Axes During Elevation of the Shoulder ComplexJournal of Orthopaedic & Sports Physical Therapy, 2001
- Robot-aided neurorehabilitationIEEE Transactions on Rehabilitation Engineering, 1998