Design of a Parallel Actuated Exoskeleton for Adaptive and Safe Robotic Shoulder Rehabilitation
Journal
IEEE/ASME Transactions on Mechatronics
Journal Volume
22
Journal Issue
5
Start Page
2034
End Page
2045
ISSN
10834435
Date Issued
2017
Author(s)
Abstract
Powered exoskeletons can facilitate after-stroke rehabilitation of patients with shoulder disabilities. Designs using serial mechanisms usually result in complicated and bulky exoskeletons. This paper presents a new parallel actuated shoulder exoskeleton that consists of two spherical mechanisms, two slider crank mechanisms, and a gravity balancing mechanism. The actuators are grounded and placed side-by-side. Thus, better inertia properties can be achieved while lightweight and compactness are maintained. An adaptive mechanism with only passive joints is introduced to compensate for the exoskeleton-limb misalignment and size variation among different subjects. Linear series elastic actuators (SEAs) are proposed to obtain accurate force and impedance control at the exoskeleton-limb interface. The total number of force sensors and actuators is minimized using the adaptive mechanism and SEAs. An exoskeleton prototype is shown to provide bidirectional actuation between the exoskeleton and upper limb, which is required for various rehabilitation processes. We expect this design can provide a means of shoulder rehabilitation.
Subjects
Adaptive Mechanism
Axis Misalignment
Impedance Control
Parallel Spherical Mechanism
Series Elastic Actuator (sea)
Shoulder Rehabilitation
Upper Limb Exoskeleton
Actuators
Alignment
Neuromuscular Rehabilitation
Patient Rehabilitation
Adaptive Mechanism
Axis Misalignments
Impedance Control
Series Elastic Actuators
Shoulder Rehabilitations
Spherical Mechanisms
Upper Limbs
Exoskeleton (robotics)
SDGs
Publisher
Institute of Electrical and Electronics Engineers Inc.
Type
journal article