Design of an adaptive exoskeleton for safe robotic shoulder rehabilitation

Li Chien, Dian Fu Chen, Chao Chieh Lan

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

1 Citation (Scopus)

Abstract

After-stroke rehabilitation of patients with shoulder disabilities traditionally requires repeated and progressive training exercises. Complete recovery is usually costly and lengthy. Aimed at reducing the cost and time of shoulder rehabilitation, powered exoskeletons are developed to provide automatic and steady rehabilitation training. Our previously developed shoulder exoskeleton is small-size, light-weight, and requires low power consumption. This paper further improves its wearability and safety by introducing an adaptive mechanism. This adaptive mechanism can compensate for the misalignment between exoskeleton and human upper limb and size variation among different subjects. To ensure safe interaction, a compact two-axis force sensor will be realized in the adaptive mechanism to obtain accurate force at the human-exoskeleton interface. Combined with the series elastic input motors, the exoskeleton can provide accurate force control and avoid human injury. Bidirectional actuation between exoskeleton and human can also be allowed, which is required for various rehabilitation processes. We expect this shoulder exoskeleton can provide a means of automatic shoulder rehabilitation.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages282-287
Number of pages6
ISBN (Electronic)9781509020652
DOIs
Publication statusPublished - 2016 Sep 26
Event2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
Duration: 2016 Jul 122016 Jul 15

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2016-September

Other

Other2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
CountryCanada
CityBanff
Period16-07-1216-07-15

All Science Journal Classification (ASJC) codes

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

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  • Cite this

    Chien, L., Chen, D. F., & Lan, C. C. (2016). Design of an adaptive exoskeleton for safe robotic shoulder rehabilitation. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 (pp. 282-287). [7576780] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2016-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2016.7576780