Design, Development, and Testing of an Intelligent Wearable Robotic Exoskeleton Prototype for Upper Limb Rehabilitation.

Manuel Andrés Vélez-Guerrero,Mauro Callejas-Cuervo,Stefano Mazzoleni

doi:10.3390/s21165411

Manuel Andrés Vélez-Guerrero, Mauro Callejas-Cuervo + Show 1 more

Open Access

https://doi.org/10.3390/s21165411

Copy DOI

Abstract

Neuromotor rehabilitation and recovery of upper limb functions are essential to improve the life quality of patients who have suffered injuries or have pathological sequels, where it is desirable to enhance the development of activities of daily living (ADLs). Modern approaches such as robotic-assisted rehabilitation provide decisive factors for effective motor recovery, such as objective assessment of the progress of the patient and the potential for the implementation of personalized training plans. This paper focuses on the design, development, and preliminary testing of a wearable robotic exoskeleton prototype with autonomous Artificial Intelligence-based control, processing, and safety algorithms that are fully embedded in the device. The proposed exoskeleton is a 1-DoF system that allows flexion-extension at the elbow joint, where the chosen materials render it compact. Different operation modes are supported by a hierarchical control strategy, allowing operation in autonomous mode, remote control mode, or in a leader-follower mode. Laboratory tests validate the proper operation of the integrated technologies, highlighting a low latency and reasonable accuracy. The experimental result shows that the device can be suitable for use in providing support for diagnostic and rehabilitation processes of neuromotor functions, although optimizations and rigorous clinical validation are required beforehand.

Highlights

Even with advances in health sciences, neuromotor dysfunction resulting in human limb limitations is still prevalent worldwide [1]
Wearing The modular nature and architecture of the exoskeleton allow it to be adapted to different anatomies, making it a wearable system that is straightforward to attach or detach
This article presents an overview of the design, development, and preliminary testing of a modular and portable robotic exoskeleton that assists 1-DoF rehabilitation processes at the elbow joint

Summary

Introduction

Even with advances in health sciences, neuromotor dysfunction resulting in human limb limitations is still prevalent worldwide [1]. It is estimated that by 2021, more than two billion people will be living with some form of disability, equivalent to approximately 37.5% of the global population [3,4]. The population in a disability condition due to musculoskeletal or neuromotor dysfunction has been disproportionately affected due to the COVID-19 pandemic, its demographic trends, and the increase in associated chronic diseases [5]. For this reason, it is necessary to extend services for people with disabilities, establish rehabilitation interventions as a priority [6], and provide concerted and sustained efforts to enhance the treatments [7,8]. The Disability and Development Report [9] and the Report on the disability inclusion in the United Nations system [10] note that the deployment of assistive technologies must be accompanied by planning based on quantitative data to obtain valuable information synchronized with the rehabilitation requirements [11,12]

Results

Discussion

Conclusion