Journal of robotics and mechatronics 

About: Journal of robotics and mechatronics is an academic journal published by Fuji Technology Press Ltd.. The journal publishes majorly in the area(s): Robot & Mobile robot. It has an ISSN identifier of 0915-3942. Over the lifetime, 2751 publications have been published receiving 17712 citations.

An EMG-Controlled Hand Exoskeleton for Natural Pinching

Abstract: Spinal cord and other lo cal injuries ofte n lea d to partial paralysis while the brain stays fully functional. When this partial paralysis occurs in the hand, these individuals are not able to execute daily activities on their own even if their a rms are func tional. To remedy this problem, a lightweight, low-profile orthotic exoskeleton has been designed to restore dexterity to paralyzed hands. The exoskeleton’s movements are controlled by the user’s available electromyography (EMG) signals. The device has two actuators controlling the index finger flexion that can be used to perform a pinching motion against a fixed thumb. Using this orthotic device, a new control technique was developed to allow for a natur al reaching and pinching sequence by utilizing the natural residual muscle activation patterns. To design this controller, two actuator control algorithms were explored with a qua driplegic (C5/ C6) subject and it was determined that a simple bina ry c ontrol algorithm allowed for faster interaction with objects over a variabl e cont rol algorithm. The binary algorithm was then used as an enabling algorithm to activate the exoskeleton movements when the natural sequence of muscle activities found a pattern related to a pinch. This natural pinching technique has shown significant promise toward realistic neural control of wearable robotic devices to assist paralyzed individuals.

Realization of all 7 motions for the upper limb by a muscle suit

Abstract: A \"muscle suit\" that provides muscular support for the paralyzed or those otherwise unable to move unaided is being developed as a wearable robot. The lack of a metal frame and use of McKibben artificial muscle allow the muscle suit to be lightweight, making it realistic to use in daily life. To overcome the basic concept of the muscle suit, the new structure with the mechanical joints and plastic frame is applied. Although, human's range of motion was not fulfilled by the new structure muscle suit, all seven upper limb motions were realized and range of motion might be enough for daily use.