5-DoF upper limb exoskeleton controlled through intelligent semi-automated shared tongue control

Abstract

This paper presents EXOTIC, a revolutionary assistive upper-limb exoskeleton that offers previously unheard-of levels of control and versatility to people with total functional tetraplegia. While the context in which these exoskeletons should work is less or not prioritized despite posing significant technical needs, the exoskeleton literature in publication mostly concentrates on the fundamental technical components of exoskeleton design and control, ranging from fundamental technical features to practical real-world applications. The EXOTIC includes a lightweight, safe, wheelchair-mountable, and simple-to-put-on-and-take-off exoskeleton that can assist individuals with tetraplegia in multiple highly desired activities of daily living, a semi-automated computer vision guidance system that the user can activate when appropriate, and a tongue control interface that enables complete, conscious, and ongoing control over every movement the exoskeleton is capable of. Ten healthy participants and three users suffering from tetraplegia due to a spinal cord injury participated in the EXOTIC testing. Throughout the trials, EXOTIC was able to help individuals with total functional tetraplegia and ventilator dependency execute tasks like drinking and getting snacks. The utility of the EXOTIC was attested to by the users.