We present an upper-body exoskeleton for rehabilitation, called Harmony, that provides natural coordinated motions on the shoulder with a wide range of motion, and force impedance controllability. The consists anatomical mechanism five active degrees freedom, one degree freedom elbow wrist mechanisms powered by series elastic actuators. dynamic model is formulated using recursive Newton–Euler algorithm spatial dynamics representation. A baseline control developed to achieve transparency...

Rehabilitation of the hands is critical for restoration independence in activities daily living individuals exhibiting disabilities upper extremities. There initial evidence that robotic devices with force-control-based strategies can help effective rehabilitation human limbs. However, to best our knowledge, none existing hand exoskeletons allow accurate force or torque control. In this work, we present a novel index finger exoskeleton Bowden-cable-based series elastic actuation allowing...

We have built an anatomically correct testbed (ACT) hand with the purpose of understanding intrinsic biomechanical and control features in human hands that are critical for achieving robust, versatile, dexterous movements, as well rich object world exploration. By mimicking underlying mechanics controls a hardware platform, our goal is to achieve previously unmatched grasping manipulation skills. In this paper, novel constituting mechanisms, unique muscle joint relationships, movement...

In this paper, we present an electromyography (EMG)-driven assistive hand exoskeleton for spinal-cord-injury (SCI) patients. We developed active orthosis, called Maestro, which is light, comfortable, compliant, and capable of providing various poses. The EMG signals are obtained from a subject's forearm, post-processed, classified operating Maestro. performance Maestro evaluated by standardized function test, the Sollerman test. experimental results show that improved SCI

Robotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed motor recovery after neurological injury. Targeted coordinated hand wrist therapy, often overlooked robotics, is required to regain the ability perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has designed. This paper details design module several human-related considerations made maximize its potential as device. The serial mechanism engineered...

Abstract Aims Although cardiovascular (CV) mortality increased during the COVID-19 pandemic, little is known about how these patterns varied across key subgroups, including age, sex, and race ethnicity, as well by specific cause of CV death. Methods results The Centers for Disease Control WONDER database was used to evaluate trends in age-adjusted between 1999 2020 among US adults aged 18 older. Overall, there a 4.6% excess compared 2019, which represents an absolute 62 802 deaths. relative...

We present an exoskeleton capable of assisting the human thumb through a large range motion. Our novel has following unique features: (i) underlying kinematic mechanism that is optimized to achieve motion, (ii) design actuates four degrees freedom thumb, and (iii) series elastic actuation based on Bowden cable, allowing for bidirectional torque control each joint individually. model coupled system use it maximize motion thumb. Finally, we carry out tests with designed device subjects...

This paper presents a systematic method for experimental characterization of Bowden cable friction. A novel tension measurement using motion capture system and spring is introduced. With the method, effects nine variables on friction are investigated. Experimental results show that i) combination 7×19 FEP-coated stainless steel double-sheaths has highest force transmission efficiency; ii) smaller coefficient material, moving speed, shorter length, longer clamp distance, stiffer cable/sheath...

We present a control strategy for the shoulder mechanism of an upper-body exoskeleton, called HARMONY, to assist in achieving coordinated motion at complex. HARMONY is equipped with novel that supports natural mobility human shoulder, including scapulohumeral rhythm, which between upper arm (humerus) and blade (scapula). The key idea introduce coupling torque based on impedance corresponding reference trajectory rhythmic after compensating gravity force from robot. This scheme allows...

We present a new methodology for designing nonlinear rotational spring with desired passive torque profile by using noncircular pulley-spring mechanism. A synthesis procedure the shape of pulley is presented. The method based on an infinitesimal calculus approach that leads to analytical solution, and extended address practical design issues related cable routing. Based method, antagonistic configuration designed bilateral generation such there no slack in routing cables. Two examples are...

Robotic rehabilitation of the hands from a neuromuscular impairment such as stroke requires controllers that could provide subject-specific assistance and result in fastest possible recovery. We present two assist-as-needed for hand exoskeleton called Maestro is designed to accurate torque subject. Learned force-field control novel technique which neural-network-based model required torques learned offline specific subject then used render assist finger motion follow target trajectory....

This paper extends the work of first four parts this series to apply image analysis methods we have developed characterize fiber orientation real non woven fabrics. The "real" fabrics chosen as typical are a carded crimped web, two relatively dense overall or area bonded fabrics, pattern point spun bonded-meltblown-spunbonded fabric, and lightweight spunbonded nonwoven. In order deal with webs, it is necessary develop lighting system give images sufficient contrast along an appropriate...

The torque control of finger joints is important for effective hand rehabilitation after neural disorders such as stroke. This paper presents an approach accurate with UT exoskeleton. We present (1) how we obtained kinematics model, (2) built the actuation model Bowden cable SEA, and (3) controlled kinematic SEA. have validated our a testbed results show that exoskeleton accurately controls joints.

The biomechanical complexity of the human shoulder, while critical for functionality, poses a challenge objective assessment during sensorimotor rehabilitation. With built-in sensing capabilities, robotic exoskeletons have potential to serve as tools both intervention and assessment. bilateral upper-extremity Harmony exoskeleton is capable full shoulder articulation, forearm flexion-extension, wrist pronation-supination motions. goal this paper characterize Harmony's anatomical joint angle...

Human-worn rehabilitation exoskeletons have the potential to make therapeutic exercises increasingly accessible disabled individuals while reducing cost and labor involved in therapy. In this work, we propose a novel human-model-in-the-loop framework for virtual prototyping (design, control experimentation) of by merging computational musculoskeletal analysis with simulation-based design techniques. The allows iteratively optimize algorithm an exoskeleton using simulation. We introduce...

Torque control of small-scale robotic devices such as hand exoskeletons is challenging due to the unavailability miniature and compact bidirectional torque actuators. In this work, we present a Bowden-cable-based series elastic actuator (SEA) using helical torsion springs. The three-dimensional (3D) printed SEA 38 mm × 24 in dimension weighs 30 g, excluding motor which located remotely. We carry out thorough experimental testing our previously presented linear compression spring (LC-SEA)...

For rehabilitation robots to be successful, a control system that results in safe, comfortable and effective interaction between the robot subject is necessary. We present two types of torque-based controllers for index finger module hand exoskeleton rehabilitation. Impedance applies position-dependent torque at joints, while keeping with compliant. Force-field control, on other hand, normal tangential torques track contour joint angle space. also self-guided impedance wherein hemiparetic...

Humans exploit the inherent biomechanical compliance in their fingers to achieve stability and dexterity during many manipulation tasks. The is a result of muscles tendons (series compliance) flexible joints (parallel compliance). While effects series have been studied robotic systems, research on joint arranged parallel with actuators limited. In this paper, we first demonstrate, through mathematical modeling, that introducing improves robustness presence time delay generic joint. We also...

Robotic devices have been proposed to meet the rising need for high intensity, long duration, and goal-oriented therapy required regain motor function after neurological injury. Complementing this application, exoskeletons can augment traditional clinical assessments through precise, repeatable measurements of joint angles movement quality. These measures assume that are making accurate with a negligible effect on movement. For coupled coordinated joints wrist hand, validity these two...

Human level of dexterity has not been duplicated in a robotic form to date. Dexterity is achieved part due the biomechanical structure human body and neural control movement. We have developed an anatomically correct testbed (ACT) hand investigate importance behavioral consequences anatomical features strategies hand. One critical aspects understanding analysis relationships between muscle movements joint movements, defined by moment arms muscles. It known that for muscles are...

Human levels of dexterity has not been duplicated in a robotic form to date. Dexterity is achieved part due the biomechanical structure, and neural control movement. An anatomically correct test-bed (ACT) hand constructed investigate importance behavioral consequences anatomical features strategies human hand. This paper focused on role handpsilas variable moment arm. System identification was conducted ACT index fingerpsilas two degrees freedom at metacarpal-phalange (MCP) joint provide an...

The cost of therapy is one the most significant barriers to recovery after neurological injury. Robotic gait trainers move legs through repetitive, natural motions imitating gait. Recent meta-analyses conclude that such training improves walking function in neurologically impaired individuals. While robotic promise reduce physical burden on therapists and allow greater patient throughput, they are prohibitively costly. Our novel approach design a new single degree-of-freedom (DoF) trainer...