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<?Pub Dtl?>In recent years, the authors have proposed lightweight exoskeleton designs for upper arm rehabilitation using multi-stage cable-driven parallel mechanism. Previously, the authors have demonstrated via experiments that it is possible to apply “assist-as-needed” forces in all directions at the end-effector with such an exoskeleton acting on an anthropomorphic machine arm. A human–exoskeleton...
This paper presents the control strategy and efficient tasks for training with ReachMAN, a compact, portable 3 degree-of-freedom robot to train reaching, pronosupination and grasping, independently or in combination. A pilot study was performed with three sub-acute patients to evaluate the potential use of ReachMAN as a rehabilitation tool, and determine how it should be used. All subjects improved...
Many kinds of exoskeleton robots have been developed to assist the motion in rehabilitation and daily living of physically weak persons. The concept of perception-assist has been proposed to assist not only the daily motion but also the interaction with an environment, by applying the modification force to the user's motion. In this paper, task-oriented perception-assist is proposed to assist the...
This paper deals with the development of a novel exoskeleton for the robotic rehabilitation of upper extremities. The system is based on modular custom-designed actuation groups implementing high reduction ratios and redundant position measurement for securing patient safety, and joint torque sensing for guaranteeing system performance and providing application flexibility. Experimental results of...
In order to make haptic feedback in teleoperation rehabilitation robot system or to assist the object's movement, recognition the intended movement of an object is required. In this paper, we establish the relation between the electromyography (EMG) signal of some specified hu.man arm's muscles and the moment of corresponding arm's joints. The model and the parameter calibration process are simple...
The complete elimination of external incisions through natural orifice access to the peritoneal cavity is potentially the next step in reducing the invasiveness of surgery. Natural Orifice Translumenal Endoscopic Surgery (NOTES) provides distinct patient advantages, but is surgically challenging. For the NOTES approach to be applied routinely, devices need to be developed that provide the surgeon...
External support of the arm against gravity has a beneficial impact on reaching movements performed by moderately and severely impaired stroke survivors. Provision of scalable gravity compensation may therefore be an important component of robot-based upper limb rehabilitation. This study reports the development and initial evaluation of a scalable gravity-compensated training environment based on...
This paper presents ABLE, an innovative exoskeleton for the upper limb currently under development at CEA-LIST Interactive Robotics Unit. Its distinctive high performance mechanical transmissions - screw and cable patented arrangement - and its integrated architecture makes it the very first of its category. The first 4 axis model is described here but more complete models are already planned: a 7...
Many studies on power-assist exoskeleton robots have been carried out in order to assist daily activities and/or rehabilitation of physically weak persons. EMG-based control is one of the most effective control methods to realize the power-assist with the exoskeleton based on userpsilas motion intention. In this paper, a muscle-model, which is adjusted by a neuro-fuzzy modifier according to the userpsilas...
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