Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
The loss of motor function at the elbow joint can result as a consequence of stroke. Stroke is a clinical illness resulting in long lasting neurological deficits often affecting somatosensory and motor cortices. More than half of those that recover from a stroke survive with disability in their upper arm and need rehabilitation therapy to help in regaining functions of daily living. In this paper,...
For safe and effective robot-assisted rehabilitation, natural inherent compliance and self-alignment of rehabilitation devices completed with assistive behavior are assumed to be the essential properties. To provide required human joint stability each joint can be separately supported using exoskeleton-like devices. However, the necessity of exact adjustment to the individual extremity is very time-consuming...
Artificial muscle is a new type of biomimetic actuator particularly promising for naturally compliant mechatronic and robotic systems. Due to their highly non-linear character, their accurate closed-loop positioning control is a true challenge. We report the design and the control of a wire-cable driven artificial muscle actuator inspired by the elbow natural musculature. We propose an original linear...
Elbow disorders are a common occurrence; however, our understandings of complex elbow dislocation and the functional anatomy of the elbow joint are still very limited. The efficacy of treatment strategies of this injury is largely unknown. The purpose of this study is to create an active elbow simulator using a new paradigm, In vitro joint simulation driven by in vivo motion, to study how elbow injuries...
In this paper, a novel soft inflatable arm is proposed for telepresence robots. It is capable of imitating human arms to realize remote interaction. The new proposed arm using a very common and low cost inflatable material, and it is very light, which weight is only about 50 grams, but can well realize agile movement by driving three tiny cables installed in shoulder joint and elbow joint, respectively...
A variable stiffness actuator is proposed according to the human ergonomic joint actuation mechanism and applied to an elbow rehabilitation robot. The robot employs an antagonistic compliant driving actuation to ensure rehabilitation training effectiveness and the patient's safety even under the condition of spasm. The robot joint stiffness and position can be controlled simultaneously by using the...
Humanoid dextrous manipulator as an important part of the space station manipulator system or robot astronaut is a significant research subject in the field of On-Orbit Servicing (OOS). Most of manipulators in International Space Station (ISS) have open kinematic chain and serially connected links which is weak on cumulative error, load capacity and motion inertia. In this work, a novel hybrid humanoid...
In this research the twisting cable mechanism was employed to design and develop a light elbow assistive robot. A particular type of fishing line was experimentally tested for use as the strand material, and the behavior was compared to the proposed model. A correction parameter called effective diameter was derived to adapt the model to the experimental data. To ensure the consistency of the model,...
The novel cable-driven anthropomorphic-arm manipulator (CDAM) mentioned in this paper is a 7-DOF hybrid redundant mechanism which fuse the advantages of redundant manipulator and cable-driven mechanism. This paper focuses on the stiffness of the CDAM and gives the Cartesian stiffness matrix calculation process. The process can be divided into three steps: firstly, the calculation of the stiffness...
There are many applications for which a patient needs functional compensation due to motor disorders in daily activities. Classic research has focused on robotics solutions in terms of actuators or motors, but the point of this paper is to analyze new solutions combining both biological and artificial structures, in order to improve standard developments. Nowadays wearable Robots are taking an important...
We present and evaluate an arm-motion guidance system that uses magnetic tracking sensors and low cost vibrotactile actuators. The system measures the movement of the user's arm and provides vibration feedback at the wrist and elbow when they stray from the desired motion. An initial study was conducted to investigate whether adding tactile feedback to visual feedback reduces motion errors when a...
Most exoskeleton designs rely on structures and mechanical joints that do not guarantee the right match between the orthosis and the user. This paper proposes a virtual joint model based on three active degrees of freedom aimed to emulate a human joint. This joint is capable of performing a dynamic servo-adaptation in real-time to avoid misalignments and to provide a flexible adjustment to different...
This paper describes the mechanical design, analysis, and prototyping of a 7 DoF robotic arm that uses electrical actuators as its muscles. The structure of the arm is a hybrid Serial-Parallel-Parallel (SPP) configuration. The robotic arm is similar in size and structure to the human arm and can imitate the human arm movements; the 3 DoF shoulder has a serial link configuration; the 1 DoF elbow is...
This paper reports support effects of an exoskeleton system for activities of a hand and an upper limb of a healthy person. The support system augments human forces of a hand, a wrist joint and an elbow joint based on bioelectric potential of each muscle so that the upper limb could be assisted by the exoskeleton with a certain rate of wearer's force. Actuators in the assistive system are replaced...
Numerous haptic devices have been developed for neurorehabilitation of upper extremities, but their wide-spread use has been largely impeded for reasons of complexity and cost. In this paper we describe a variable structure pantograph mechanism that produces a versatile rehabilitation robot for movement training of the shoulder, elbow, and wrist. The device has three operational modes: ARM, REACH...
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The...
McKibben artificial muscle is one of the most interesting artificial muscle which can actually serves as a biomimetic actuator for human-like robot limbs. However its peculiar non-linearities as the need to use it in direct drive to preserve its human-like compliance make very difficult the control of robots actuated by McKibben muscles. Experimental tests with a second-order sliding mode applied...
Recent investigations show that compliant systems can be more safe and energy-efficient than conventional stiff actuated systems. As a result, researchers are increasingly implementing compliance within actuation systems using a variety of mechanisms. In general, these actuators can be grouped in 2 main categories. The first category includes all the actuation systems with a compliant element connected...
This paper is the first report on development of WELL-joint (Wearable ELbow Lightweight joint) for assist of a human elbow. The final goal of the development is realization of a lightweight and compact joint. Two actuators and two nonlinear springs constitute an antagonistic actuation system, and assist of a human elbow is realized by changing stiffness and equilibrium around the joint. This paper...
In this article the design of a new upper limb rehabilitation system will be presented. A lightweight, modular, and portable system is achieved by the combination of electromyographic (EMG) control, functional electrical stimulation (FES), and the use of miniaturized flexible fluidic actuators (FFA) integrated in an elbow orthosis. First, the state of the art of upper limb rehabilitation devices will...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.