Design of a lightweight forearm exoskeleton for fine-motion rehabilitation

Yin Yu Su, Kuan Yi Wu, Ching Hui Lin, Ying Lung Yu, Chao Chieh Lan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Exoskeleton robots can facilitate rehabilitation of patients with upper or lower limb disabilities. To make exoskeletons more friendly and accessible to patients, they need to be lightweight and compact without compromising major performances. Existing upper-limb exoskeletons focus on the shoulder and the upper arm while the fine-motion rehabilitation of the forearm is often ignored. This paper presents an elbow-wrist exoskeleton with five degrees-of-freedom. Using a 5R spherical mechanism for the wrist module and a slider crank mechanism for the elbow module, this exoskeleton can provide the complete motion assistance for the forearm. This exoskeleton with optimized dimensions can produce large torque and motion output while the motors are placed parallel to the forearm and the elbow joint. Thus better inertia properties can be achieved while lightweight and compactness are maintained. Series elastic actuators (SEAs) are proposed to obtain accurate force and impedance control at the exoskeleton-forearm interface. We expect that this rehabilitation exoskeleton can be used alone or in conjunction with other exoskeleton robots to provide a means of robot-aided upper limb rehabilitation.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages438-443
Number of pages6
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 2018 Aug 30
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 2018 Jul 92018 Jul 12

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2018-July

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period18-07-0918-07-12

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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  • Cite this

    Su, Y. Y., Wu, K. Y., Lin, C. H., Yu, Y. L., & Lan, C. C. (2018). Design of a lightweight forearm exoskeleton for fine-motion rehabilitation. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 438-443). [8452243] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2018-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452243