This paper proposes a novel design of a hand exoskeleton System. The optimisation of the exoskeleton device (link lengths, actuation) was achieved through the procedure targeting the natural finger workspace and capabilities. To define the design requirements of the hand exoskeleton device, an analysis of the hand daily life common activities has been carried out. Range of motion, maximum and average force levels exerted by human hands of different sizes and various age groups have been measured using appropriate instrumentation. Results of these experiments mapped directly to the mechanical design of the system. An under-actuated optimum mechanism has been proposed. A rapid prototype of the proposed design has been realized to analyze and demonstrate the mechanism and to verify the optimisation results. Results have shown that the hand exoskeletonsystem covers the complete range of motion of a natural human hand.

Категория: Ищем научные статьи | Нет комментариев »

Rehabilitation based on robot has been important researches field. In this paper, an exoskeleton device for upper limb has been developed, and it includes three active DoFs (Degree of Freedoms) and four passive DoFs. This device is used to assist performance for the impaired upper limb. Hemiplegic patients can move their intact upper limb by manipulating a haptic device (Phantom Premium) and their impaired upper limb can move synchronously, which is driven by the exoskeleton device. Different from general joystick, haptic device not only exert force to patients, but also can detect the movement of upper limb because of its 6 DoFs and enough work range. Therefore, the impaired upper limb can perform following the intact upper limb and patients can perform some rehabilitation by themselves. In this paper we focused on the motion detection of intact limb. Control onexoskeleton device was discussed in previous work. Also this system can be used in remote rehabilitation.

Категория: Ищем научные статьи | Нет комментариев »

This study is about developing an exoskeleton Continuous Passive Motion (CPM) with the same Range of Motion (ROM) and instant center of rotation as the human knee. The key feature in constructing a CPM is an accurate alignment with the human knee joint enabling it to deliver the same movements as the actual body on the CPM. In this research, we proposed anexoskeleton knee joint through kinematic interpretation, measured the knee joint torque generated while using a CPM and applied it to the device. Thus, this new exoskeleton type CPM will allow precise alignment with the human knee joint, and follow the same ROM as the human knee in any position.

Категория: Ищем научные статьи | Нет комментариев »

This paper presents an interactive exoskeleton device for hand rehabilitation, iHandRehab, which aims to satisfy the essential requirements for both active and passive rehabilitation motions. iHandRehab is comprised of exoskeletons for the thumb and index finger. These exoskeletons are driven by distant actuation modules through a cable/sheath transmission mechanism. Theexoskeleton for each finger has 4 degrees of freedom (DOF), providing independent control for all finger joints. The joint motion is accomplished by a parallelogram mechanism so that the joints of the device and their corresponding finger joints have the same angular displacement when they rotate. Thanks to this design, the joint angles can be measured by sensors real time and high level motion control is therefore made very simple without the need of complicated kinematics. The paper also discusses important issues when the device is used by different patients, including its adjustable joint range of motion (ROM) and adjustable range of phalanx length (ROPL). Experimentally collected data show that the achieved ROM is close to that of a healthy hand and the ROPL covers the size of a typical hand, satisfying the size need of regular hand rehabilitation. In order to evaluate the performance when it works as a haptic device in active mode, the equivalent moment of inertia (MOI) of the device is calculated. The results prove that the device has low inertia which is critical in order to obtain good backdrivability. Experimental analysis shows that the influence of friction accounts for a large portion of the driving torque and warrants future investigation.

Категория: Ищем научные статьи | Нет комментариев »

The paper proposes control algorithms for Single-DOF Powered Exoskeleton used in physiotherapy and rehabilitation of the human upper limb. Proposed algorithms use EMG signals from single muscles as well as antagonist muscle pairs, to maximize the users intuitive control over the exoskeleton system. The paper is also a design summary of the problems and experiences gathered from building of Single-DOF Upper Limb Exoskeleton using linear electric actuators.

Категория: Ищем научные статьи | 21 комментарий »