TY - GEN
T1 - Design of an adaptive exoskeleton for safe robotic shoulder rehabilitation
AU - Chien, Li
AU - Chen, Dian Fu
AU - Lan, Chao Chieh
N1 - Funding Information:
This work was supported by the Ministry of Science and Technology, Taiwan (with Project No. MOST 104-2221-E-006-055)
Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/26
Y1 - 2016/9/26
N2 - 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.
AB - 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.
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U2 - 10.1109/AIM.2016.7576780
DO - 10.1109/AIM.2016.7576780
M3 - Conference contribution
AN - SCOPUS:84992344975
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 282
EP - 287
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -