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Biomechanics And Motor Control Of Human Movement

Since the late 1990s, there has been a burst of research on robotic devices for poststroke rehabilitation. Robot-mediated therapy produced improvements on recovery of motor capacity; however, so far, the use of robots has not shown qualitative benefit over classical therapist-led training sessions, performed on the same quantity of movements. Multidegree-of-freedom robots, like the modern upper-limb exoskeletons, enable a distributed interaction on the whole assisted limb and can exploit a large amount of sensory feedback data, potentially providing new capabilities within standard rehabilitation sessions. Surprisingly, most publications in the field of exoskeletons focused only on mechatronic design of the devices, while little details were given to the control aspects. On the contrary, we believe a paramount aspect for robots potentiality lies on the control side. Therefore, the aim of this review is to provide a taxonomy of currently available control strategies for exoskeletons for neurorehabilitation, in order to formulate appropriate questions toward the development of innovative and improved control strategies.

/pdf/upper-limb-robotic-exoskeletons-for-neurorehabilitation-a-1vg72yu5h7.pdf

Upper-Limb Robotic Exoskeletons for Neurorehabilitation: A Review on Control Strategies

https://vbn.aau.dk/ws/files/337950041/robotics_09_00016.pdf

A review on design of upper limb exoskeletons

The number of disabled individuals due to stroke is increasing day by day and is projected to continue increasing at an alarming rate in United States. But the current amount of health professionals in physical therapy is inadequate to provide rehabilitation to these large groups. From early 1990s, researchers have been trying to develop an easy and feasible solution to this problem and lot of assistive devices both end effector type or exoskeleton type have been developed till to date. However, only a few of them have been commercialized and are being used in rehabilitation of post-stroke patients. Making the use of exoskeletons and other devices to regain lost motor function is rare. Providing therapy to this large group is quite impossible without commercializing of exoskeleton. This has motivated the authors to make a literature review and figure the reasons out that need to be solved to bridge the gap between research prototype to commercial version. This paper covers the necessity of incorporating robotic devices in rehabilitation, a brief description of existing devices particularly upper limb exoskeletons, their hardware limitations, and control issues. Our review shows that there are significant flaws in hardware design and developing control algorithm of exoskeletons to be available in rehabilitation program.

/pdf/a-brief-review-on-robotic-exoskeletons-for-upper-extremity-7y8p4c684q.pdf

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

This paper presents a seven degrees of freedom cable-driven upper limb exoskeleton (CABXLexo-7), which is compact, lightweight, and comfortable for post-stroke patients. To achieve the compactness of exoskeleton, two types of cable-driven differential mechanisms were designed. The cable-conduit mechanisms were applied to transmit the power of motors mounted on the backboard to the corresponding joints, then the whole weight of the exoskeleton could be light to ensure a comfortable motion assistance. In the course of experiments, the surface electromyography signals of major muscles related with the movements of upper limb were collected to evaluate the assistant ability of exoskeleton. The experimental results showed that the activation levels of corresponding muscles were reduced by using the seven degrees of freedom cable-driven upper limb exoskeleton in the course of rehabilitation, and it demonstrated that the exoskeleton can provide effective movements assistance to the post-stroke patients.

Design and evaluation of a 7-DOF cable-driven upper limb exoskeleton

Close interaction can be observed between an exoskeleton robot and its wearer. Therefore, appropriate physical human-robot interaction (pHRI) should be considered when designing an exoskeleton robo...

/pdf/6-rexos-upper-limb-exoskeleton-robot-with-improved-phri-19hwwqqq73.pdf

6-REXOS: Upper limb exoskeleton robot with Improved pHRI

Muscle weakness owing to stroke, spinal cord injuries, or aging can make a person’s life sedentary, temporarily as well as permanently. Such persons need to be motivated to break their sedentary postures and attempt independent motion. A key motivator in this aspect is the ability to easily transition from seated to standing posture. If this sit-to-stand transition (STSt) is easy, it will encourage further mobility. A soft wearable device that can assist the STSt, would fill this need perfectly. Such a device should be able to seamlessly assist during STSt and be unobtrusive during sitting. A major limitation that is currently holding back the development of soft exosuits in STSt-assist is the lack of low-profile soft actuators with high strain rate and force-to-weight ratio. Hence, we propose a novel low-profile vacuum actuator (LPVAc) with an integrated inductive displacement sensor that, can be rapidly fabricated, is lightweight (14g), and can provide high strain (65%) and a high force-to-weight ratio (285 times self-weight). The proposed actuator comprises a low-profile spring encased within a low-density polyethylene film with rapid vacuum actuation and passive quick return. The proposed inductive sensor has a sensitivity of $0.0022~\mu H/mm$ and the hysteresis is below 1.5% with an overall absolute average error percentage of 5.24%. The performance of the proposed integrated sensor in displacement control of the LPVAc is experimentally evaluated. The proposed actuator is integrated into a novel mono-articular STSt-assist exosuit for preliminary testing. Surface electromyography measurements of the gluteus maximus muscles during STSt indicate a mean muscle activity reduction of 45%. This supports the potential use of the proposed actuator in STSt-assist.

/pdf/a-low-profile-vacuum-actuator-lpvac-with-integrated-2xr3529bmt.pdf

A Low-Profile Vacuum Actuator (LPVAc) With Integrated Inductive Displacement Sensing for a Novel Sit-to-Stand Assist Exosuit

Most contemporary soft actuators tend to have a large cross-sectional area that prevents easy integration with wearable devices. Therefore, soft actuators ideal for wearable device integration should be capable of being mounted in a small amount of space, conforming to human body contours with minimal obstruction, and delivering adequate force to move the human body. Hence, in developing assistive devices ranging from orthosis to prosthesis, there is a need for low-profile, thin, lightweight, soft actuators with a high force-to-weight ratio. In this paper, the authors present a novel, thin-walled, lightweight, contractile, soft actuator (ThinVAc) that delivers a high force-to-weight ratio. First, the authors present the design, fabrication, and performance characterization of the ThinVAc. Second, a scalable, multi-filament actuator design is presented by combining multiple thin-walled actuators, including design, fabrication, and performance characterization. Next, the paper presents numerical models to describe the proposed actuator's contractile and blocked force performance, and predict the blocked force performance of the multi-filament actuator combinations. The lightweight ThinVAc (weighing about 1 g) presents a maximum contraction ratio of 60 % at no load condition, a maximum isometric blocked force of 5.2 N, and a force-to-weight ratio of 477. An 18 g multi-filament actuator made by bundling 15, 100 mm ThinVAcs can produce a maximum blocked force of 54 N at a force-to-weight ratio of 291.

A thin-walled vacuum actuator (ThinVAc) and the development of multi-filament actuators for soft robotic applications

Muscle weakness following a stroke, spinal cord injuries or age can make people sedentary temporarily or permanently. The best strategy for such patients’ recovery is to motivate them to break their wheel/chair bound condition and attempt independent motion. The ability to easily transition from sit-to-stand (STS) would encourage further mobility. Hence, there is a need for wearable assist devices that seamlessly assists STS transition. Such a device should be non-obstructive during the seated phase and assist during STS. Soft exosuits are advantageous over conventional rigid exoskeletons in this context. The use of exosuits in STS assistance is currently limited by the lack of low-profile soft actuators with high strain rate and force-to-weight ratio. Hence, we propose a novel low-profile vacuum actuator that, can be rapidly fabricated, is lightweight (14g), and can provide high strain ($\sim 65$%) and a high force-to-weight ratio $(\sim 160)$. The proposed actuator comprises a low-profile spring encased within a low-density polyethylene film with rapid vacuum actuation and passive quick return. The applicability of the proposed actuator in assisting STS is preliminarily studied via a prototype exosuit. Surface electromyography (sEMG) measurements of the gluteus maximus (GM) muscles during STS experimentally show the potential use of the proposed actuator in an STS-assist exosuit. Experimental sEMG results indicate a mean reduction of $\sim 46$% muscle activity of GM muscle during STS.

A Low-Profile Vacuum Actuator: Towards a Sit-to-Stand Assist Exosuit

/pdf/robotic-prosthetic-limbs-2ct3hdr2e6.pdf

R. A. R. C. Gopura

Papers

6-REXOS: Upper limb exoskeleton robot with Improved pHRI

A Low-Profile Vacuum Actuator (LPVAc) With Integrated Inductive Displacement Sensing for a Novel Sit-to-Stand Assist Exosuit

A thin-walled vacuum actuator (ThinVAc) and the development of multi-filament actuators for soft robotic applications

A Low-Profile Vacuum Actuator: Towards a Sit-to-Stand Assist Exosuit

Robotic Prosthetic Limbs