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At present, medical experts and researchers turn their attention towards using robotic devices to facilitate human limb rehabilitation. An exoskeleton is such a robotic device, which is used to perform rehabilitation, motion assistance and power augmentation tasks. For effective operation, it is supposed to follow the structure and the motion of the natural human limb. This paper propose a robotic...
This paper presents a myoelectric control of an arm exoskeleton designed for rehabilitation. A four-muscles-based NeuroMusculoSkeletal (NMS) model was implemented and optimized using genetic algorithms to adapt the model to different subjects. The NMS model is able to predict the shoulder and elbow torques which are used by the control algorithm to ensure a minimal force of interaction. The accuracy...
Exercise dosage is proven to be an important factor in the physical treatment. Robot assistive approach can improve the rehabilitation quality and evaluate patient's recovery quantitatively. This paper presents kinematic structure, assistive control system, and integrated F/T sensor for an upper limb rehabilitation robot. By using the human arm dynamic, there are three rehabilitation modes presented...
This paper presents advantages of introducing elbow-joints misalignments in an exoskeleton for upper limb rehabilitation. Typical exoskeletons are characterized by axes of the device as much as possible aligned to the rotational axes of human articulations. This approach leads to advantages in terms of movements and torques decoupling, but can lead to limitations nearby the elbow singular configuration...
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...
This paper presents a novel 7 (active) +2 (passive) degrees of freedom (DOF) exoskeleton to achieve effective rehabilitation of upper limbs with neurological impairment. The 7+2 DOF robot was designed for allowing anatomically correct motions in the upper extremity, and for measuring 18 axis forces/torques and 9 DOF positions. A novel four-step integrated rehabilitation approach was developed and...
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