2,285 research outputs found
Intelligent upper-limb exoskeleton using deep learning to predict human intention for sensory-feedback augmentation
The age and stroke-associated decline in musculoskeletal strength degrades
the ability to perform daily human tasks using the upper extremities. Although
there are a few examples of exoskeletons, they need manual operations due to
the absence of sensor feedback and no intention prediction of movements. Here,
we introduce an intelligent upper-limb exoskeleton system that uses cloud-based
deep learning to predict human intention for strength augmentation. The
embedded soft wearable sensors provide sensory feedback by collecting real-time
muscle signals, which are simultaneously computed to determine the user's
intended movement. The cloud-based deep-learning predicts four upper-limb joint
motions with an average accuracy of 96.2% at a 200-250 millisecond response
rate, suggesting that the exoskeleton operates just by human intention. In
addition, an array of soft pneumatics assists the intended movements by
providing 897 newton of force and 78.7 millimeter of displacement at maximum.
Collectively, the intent-driven exoskeleton can augment human strength by 5.15
times on average compared to the unassisted exoskeleton. This report
demonstrates an exoskeleton robot that augments the upper-limb joint movements
by human intention based on a machine-learning cloud computing and sensory
feedback.Comment: 15 pages, 6 figures, 1 table, Submitted for possible publicatio
Design Criteria of Soft Exogloves for Hand Rehabilitation- Assistance Tasks
This paper establishes design criteria for soft exogloves (SEG) to be used as rehabilitation or assistance devices. This research consists in identifying, selecting, and grouping SEG features based on the analysis of 91 systems that have been proposed during the last decade. Thus, function, mobility, and usability criteria are defined and explicitly discussed to highlight SEG design guidelines. Additionally, this study provides a detailed description of each system that was analysed including application, functional task, palm design, actuation type, assistance mode, degrees of freedom (DOF), target fingers, motions, material, weight, force, pressure (only for fluids), control strategy, and assessment. Such characteristics have been reported according to specific design methodologies and operating principles. Technological trends are contemplated in this contribution with emphasis on SEG design opportunity areas. In this review, suggestions, limitations, and implications are also discussed in order to enhance future SEG developments aimed at stroke survivors or people with hand disabilities
Design Methodology for Soft Wearable Devices—The MOSAR Case
This paper proposes a methodology from the conception to the manufacture of soft wearable
devices (SWD). This methodology seeks to unify medical, therapeutic and engineering guidelines
for research, development and innovation. The aforementioned methodology is divided into two
stages (A and B) and four phases. Stage A only includes phase 1 to identify the main necessity
for a patient that will define the target of its associated device. Stage B encompasses phases 2,
3 and 4. The development of three models (virtual, mathematical and experimental physical) of
the required device is addressed in phase 2. Phase 3 concerns the control and manufacture of the
experimental physical model (EPM). Phase 4 focuses on the EPM experimental validation. As a result
of this methodology, 13 mobility, 11 usability and 3 control iterative design criteria for SWD are
reported. Moreover, more than 50 products are provided on a technological platform with modular
architectures that facilitate SWD diversification. A case study related to a soft mobilizer for upper
limb rehabilitation is reported. Nevertheless, this methodology can be implemented in different areas
and accelerates the transition from development to innovation
Southwest Research Institute assistance to NASA in biomedical areas of the technology utilization program Final report, 1 Feb. 1969 - 24 Aug. 1970
Research progress in technology transfer by NASA Biomedical Application Tea
Development of a Wearable Mechatronic Elbow Brace for Postoperative Motion Rehabilitation
This thesis describes the development of a wearable mechatronic brace for upper limb rehabilitation that can be used at any stage of motion training after surgical reconstruction of brachial plexus nerves. The results of the mechanical design and the work completed towards finding the best torque transmission system are presented herein. As part of this mechatronic system, a customized control system was designed, tested and modified. The control strategy was improved by replacing a PID controller with a cascade controller. Although the experiments have shown that the proposed device can be successfully used for muscle training, further assessment of the device, with the help of data from the patients with brachial plexus injury (BPI), is required to improve the control strategy. Unique features of this device include the combination of adjustability and modularity, as well as the passive adjustment required to compensate for the carrying angle
A Review of Lower Limb Exoskeletons
In general, exoskeletons are defined as wearable robotic mechanisms for providing mobility. In the last six decades, many research work have been achieved to enhance the performance of exoskeletons thus developing them to nearly commercialized products. In this paper, a review is made for the lower limb exoskeleton concerning history, classification, selection and development, also a discussion for the most important aspects of comparison between different designs is presented. Further, some concluding remarks are withdrawn which could be useful for future work. Keywords: Exoskeletons, Lower extremity exoskeleton, Wearable robot
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