Design of an adaptive exoskeleton for safe robotic shoulder rehabilitation

Li Chien, Dian Fu Chen, Chao Chieh Lan

研究成果: Conference contribution

5 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
發行者Institute of Electrical and Electronics Engineers Inc.
頁面282-287
頁數6
ISBN(電子)9781509020652
DOIs
出版狀態Published - 2016 九月 26
事件2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
持續時間: 2016 七月 122016 七月 15

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2016-September

Other

Other2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
國家/地區Canada
城市Banff
期間16-07-1216-07-15

All Science Journal Classification (ASJC) codes

  • 電氣與電子工程
  • 控制與系統工程
  • 電腦科學應用
  • 軟體

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