Development of an Upper Limb Exoskeleton for Rehabilitation with Feedback from EMG and IMU Sensor (original) (raw)
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Design and Development of Semi Portable Rehabilitation System for Upper-Limb Disability
A wearable upper body exoskeleton system with a model based compensation control framework to support robotaided wrist, fingers and elbow rehabilitation and power assistance tasks. To eliminate the need for EMG and force sensors, we exploit off-the-shelf compensation techniques developed for robot manipulators. Thus target rehabilitation tasks are addressed by using only encoder readings. A proof of concept evaluation was conducted with 5 able-bodied participants. The patient-active rehabilitation task was realized via observer-based user torque estimation, in which resistive forces were adjusted using virtual impedance. In the patient-passive rehabilitation task, the proposed controller enabled precise joint tracking with a maximum positioning error of 0.25 degrees. In the power assistance task, the users' muscular activities were reduced up to 85% while exercising with a 5 [kg] dumbbell. Therefore, the exoskeleton system was regarded as being useful for the target tasks; indicating that it has a potential to promote robot-aided therapy protocols.
Robotic system for upper limb rehabilitation
Currently, cerebrovascular diseases are one of the main health problems. Part of the patient's rehabilitation process, affected by this disease, is manually performed by a physiotherapist, which, due to physical exhaustion, could affect the performance of patient recovery. In this paper is proposed a robotic exoskeleton for upper limb rehabilitation, which enables assist or supports the therapist's work. In the first stage, the exoskeleton is controlled passively through programmed commands and routines. Later, a second stage is proposed for biofeedback control system using the exoskeleton and signals acquired through bioinstrumentation equipment. This system will allows the acquisition of the surface electromyography signals (sEMG), as well as proprioceptive information for signal processing and movement's intention detection of upper limb. As results, are presented the implementation of robotic arm commanded passively and the bioinstrumentation equipment is presented. In the rehabilitation field, this assistive technology will enable to medical staff, to contribute to recovery and welfare of the patient, affected by some kind of muscular dysfunction, with major effectiveness.
Currently, cerebrovascular diseases are one of the main health problems. Part of the patient’s rehabilitation process, affected by this disease, is manually performed by a physiotherapist, which, due to physical exhaustion, could affect the performance of patient recovery. In this paper is proposed a robotic exoskeleton for upper limb rehabilitation, which enables assist or supports the therapist’s work. In the first stage, the exoskeleton is controlled passively through programmed commands and routines. Later, a second stage is proposed for biofeedback control system using the exoskeleton and signals acquired through bioinstrumentation equipment. This system will allows the acquisition of the surface electromyography signals (sEMG), as well as proprioceptive information for signal processing and movement’s intention detection of upper limb. As results, are presented the implementation of robotic arm commanded passively and the bioinstrumentation equipment is presented. In the rehab...
Robotic Training System for Upper Limb Rehabilitation
Robot-assisted therapy or exoskeleton is an active mechanical device that can be easily adjusted to fit a different patient limb length, and is able to coordinate and amplify movements. The aim of this study focuses on developing a robotic training system and quantification methods for upper limbs rehabilitation in clinic environments to be used in survivor stroke patients with motor disorders or loss of physical strength on one side of the body. Methods: From an integrated approach, a design of one exoskeleton is presented which allows patients perform complex movements in four degrees of freedom (DOF) rehabilitation system. The system is controlled by means of user interface developed with Lab view v8.6 software that supports control and user interaction with the exoskeleton; so it’s possible for therapist to modify the patient routine including new movements and a number of repetitions in articulating joints of shoulder, elbow and wrist. On other hand system permits bio-feedback of electromyogram patient activity during rehabilitation sessions. Results: Biomechanical analyses and structure design, implementation of power systems, the development of the control system and user interface as well as its integration with the mechanical system is presented. Conclusions: A robot arm exoskeleton device with four DOF; able to develop complex, accurate and repetitive therapeutic routines for articulating joints of shoulder, elbow and wrist trough an interface is shown. The device permits to follow chronologically patient outcomes recording the electromyogram activity during rehabilitation progress
Training of Hand Rehabilitation Using Low Cost Exoskeleton and Vision-Based Game Interface
Journal of Intelligent & Robotic Systems, 2019
Motivating game-based training have the potential to improve therapy for people with neurological impairments. In recent years, the serious games have become extremely useful tools in rehabilitation field. They aim to stimulate the mobility of the body through an immersive experience that puts the user in interactive virtual environment. This paper is concerned about developing a customized augmented reality system for stroke rehabilitation. This will be done through integrating an interactive serious game interface with a hand exoskeleton device. This game-based rehabilitation system allows users to carry out physical rehabilitation therapies using a natural user interface based on Kinect's skeletal tracking features and the electromyography (EMG) sensor. During game playing, the interactive user interface provides useful real-time feedback information such as the time required to grasp a desired dynamic virtual object, and the assigned score and thus the ability of the proposed system to provide a compensatory action regarding the dynamic behavior of the virtual target. The main goal of the developed virtual environment is to create positive influences on the rehabilitation process. Patient movement information and signals obtained from the developed exoskeleton device are used together to monitor the rehabilitation progress. The developed exoskeleton hand is a 3D printed low cost device suitable for grasping tasks that can be used even for domestic stroke patients. The developed exoskeleton device is not only a mechanical system able to perform the rehabilitation act but also it presents an effective tracking and traceability software solution. The EMG signals measured during hand motion are used to detect the intention of hand opening or closing which in turn will actuate the mechanical structure to accomplish the desired task. Parameters and results of patients' exercises are stored and analyzed when needed to evaluate patients' progress. The developed system is tested experimentally and it is able to restore the functions of the upper limb and mainly give patients more motivation to undergo the rehabilitation exercises.
Model-Based Systems Engineering of a Hand Rehabilitation Device
Jurnal Teknologi, 2015
We have developed a robotic exoskeleton to restore and rehab hand and finger function. The robotic exoskeleton is a hybrid actuated mechanism rehabilitation system, in which each finger is attached to an instrumented lead screw mechanism allowing force and position control according to the normal human setting. The robotic device, whose implemented is based on biomechanics measurements, able to assist the subject in flexion and extension motion. It also compatible with various shapes and sizes of human‘s finger. Main features of the interface include an integration of DC servo motor and lead screw mechanism which allows independent motion of the five fingers with small actuators. The device is easily transportable, user safety precaution, and offer multiple mode of training potentials. This paper presents the measurements implemented in the system to determine the requirements for finger and hand rehabilitation device, the design and characteristic of the whole system.
Development of an Arm Rehabilitation System with Different Control Approaches
2017
Stroke rehabilitation plays a vital role for people with limb disability because of stroke attack. Due to gradually increasing medical prices, the cost of rehabilitation devices existed in the hospital and rehab centre are simultaneously increased. These devices also lack the features that help to ease and increase the spirit of patients during the rehabilitation process. Thus, this paper aim to create an arm platform-based for upper limb rehabilitation, where the interactive game features also created by using Unity 2D software for the purpose of motivating patients during the rehabilitation process. The main target is to develop an arm platform, which is focused on proper controller design for the active exercises in early-stage therapy. The performance of the arm platform is examined in term of range of motion. Therefore, it will reduce patient’s pressure during the exercise and gradually improve their agility. In the proper control of the muscle tension, the designed upper limb ...
Design and Modelling of a Human Upper Limb for Rehabilitation Exoskeleton
JESTR, 2024
Electromechanical systems that interact with the user to offer power amplification, assistance, or replacement of motor function are known as exoskeletons for the upper limbs. The upper extremity rehabilitation exoskeletons have garnered increasing attention and impact in the healthcare sector over the past years due to the advancements in the field of robotic control devices and actuation elements. The necessity for assistive supporting and rehabilitation devices that either help improve human strengths or provide assistance in regaining lost motion of a specific limb joint arises as a result of changing trends and a growing population. Age-related bone loss often results in weaker, more fragile bones that make lifting and carrying huge loads more difficult. A stroke can impair mobility and is more likely occurs to the elderly people. Accidental paralysis as well as other health issues including spinal cord injuries, musculoskeletal disorders due to work environment are on the rise resulting in an increased urge for the assistive devices. The motive of this paper is to design a mathematical model of the human upper limb involving DH parameters and forward kinematics alongside with the human joint study to precisely design the model in order to design an upper extremity exo-skeleton for offering limb rehabilitation considering the human joint constraints with respect to the Sagittal, Coronal and Transverse planes. This study is aimed in providing a significant vision in developing the precise rehabilitation devices that can aim in offering the joint specific treatment to the user for human upper arm therapy.
IRJET- DESIGN AND CONTROL OF VIRTUAL EMG BASED MCI FOR REHABILITATION PEOPLE
IRJET, 2021
This paper conducts a detailed investigation into the characteristics that electromyography (EMG) signals can represent the human body's motive purpose and details of muscle's motive state. Simultaneously, EMG signals may represent the characteristics of limb movement and its shifting laws, as well as gain the performance properties of limb movement, allowing for an appropriate evaluation of patients' recovery status. Our project aims to develop prosthetics for above-knee amputees, with an emphasis on obtaining EMG signals from the calf muscles of the healthy leg and processing them to generate control signals to actuate the prosthetic leg's knee joint using a microcontroller. We intend to create a lowcost, water-resistant, and simple-to-fit prosthetic leg. We created a mechanical system that can function without the use of a corresponding body part. It is used for patients who are differently abled or people who have lost a functioning part of their body due to an injury.
The Control Concept for Upper Limb Exoskeleton
2021
Robotic exoskeletons inspired by the animal’s external covering are wearable systems that enhance human power, motor skills, or support the movement. The main difficulty, apart from the mechanical structure design, is the development of an exoskeleton control system, as it should recognize the movement intended by the user and assist in its execution. This work is devoted to the exoskeleton of the upper limbs that supports movement. The method of controlling the exoskeleton by means of electromyograms (EMG) was presented. EMG is a technique for recording and assessing the electrical activity produced by skeletal muscles. The main advantage of EMG based control is the ability to forecast intended motion, even if the user is unable to generate it. This work aims to define strategies for controlling the exoskeleton of the upper limb in children suffering from neuromuscular diseases. Such diseases gradually reduce the mobility of the lower and upper limbs. These children are wheelchair ...