Abstract
We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments.
Highlights
An increased effort has been placed on the recovery process of patients following a stroke, with recent advances in technology for monitoring the brain functions, lack of human resources in therapeutic training of patients implies that patients generally may not reach their full recovery potential when discharged from hospital following initial rehabilitation (Loureiro and Harwin, 2007)
In our study, aiming at the reaching motion of the upper limb, we developed and validated the Exoskeleton Actuated by Soft Modules (EASoftM) to fulfill the four conditions; (1) A few degrees of freedom, (2) Precise motion control, (3) Wearable assistive robots, (4) Compliant assistance
We proposed the exoskeleton aligned with the anatomical structure, actuated by the soft modules located at the joint position, and the soft actuators realize the compliant motion based on pneumatic actuation and visco-elastic properties of soft materials such as plastic and rubber
Summary
An increased effort has been placed on the recovery process of patients following a stroke, with recent advances in technology for monitoring the brain functions, lack of human resources in therapeutic training of patients implies that patients generally may not reach their full recovery potential when discharged from hospital following initial rehabilitation (Loureiro and Harwin, 2007). In our study, aiming at the reaching motion of the upper limb, we developed and validated the Exoskeleton Actuated by Soft Modules (EASoftM) to fulfill the four conditions; (1) A few degrees of freedom, (2) Precise motion control, (3) Wearable assistive robots, (4) Compliant assistance. The ultra-light EASoftM offers upper limb assistance, i.e., it can assist the reaching motion of the upper limb, supporting the movement of the elbow and shoulder, and can record trajectories of hand reaching a target based on the visual feedback control It has high compliance and high safety integrity from the perspective of the patient, because it is entirely composed of rubber and soft modules, and attached to the body via Velcro straps. The advantage of using EASoftM is that it does not include any motors which generate the elecro-magnetic waves which inevitably influence the electric signals from brain activity
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