Design of an adaptive exoskeleton for safe robotic shoulder rehabilitation
Journal Volume
2016-September
Start Page
282
End Page
287
ISBN (of the container)
9781509020652
Date Issued
2016
Author(s)
Abstract
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.
Event(s)
2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Subjects
Adaptive Mechanism
Axis Misalignment
Gravity Balancing Mechanism
Multi-axis Force Sensor
Shoulder Rehabilitation
Spherical Mechanism
Upper Limb Exoskeleton
Alignment
Intelligent Mechatronics
Neuromuscular Rehabilitation
Patient Rehabilitation
Adaptive Mechanism
Axis Misalignments
Gravity-balancing
Multi-axis
Shoulder Rehabilitations
Spherical Mechanisms
Upper Limbs
Exoskeleton (robotics)
Publisher
Institute of Electrical and Electronics Engineers Inc.
Description
2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Banff; AB. conference code:124072
Type
conference paper