A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation
Joint Authors
Manna, Soumya Kanti
Bhaumik, Subhasis
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-12-12
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
The developed exoskeleton device (Exorn) has ten degrees of freedom to control joints starting from shoulder griddle to wrist to provide better redundancy, portability, and flexibility to the human arm motion.
A 3D conceptual model is being designed to make the system wearable by human arm.
All the joints are simple revolute joints with desired motion limit.
A Simulink model of the human arm is being developed with proper mass and length to determine proper torque required for actuating those joints.
Forward kinematics of the whole system has been formulated for getting desired dexterous workspace.
A proper and simple Graphical User Interface (GUI) and the required embedded system have been designed for providing physiotherapy lessons to the patients.
In the literature review it has been found that researchers have generally ignored the motion of shoulder griddle.
Here we have implemented those motions in our design.
It has also been found that people have taken elbow pronation and supination motion as a part of shoulder internal and external rotation though both motions are quite different.
A predefined resolved motion rate control structure with independent joint control is used so that all movements can be controlled in a predefined way.
American Psychological Association (APA)
Manna, Soumya Kanti& Bhaumik, Subhasis. 2013. A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation. Journal of Robotics،Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-495029
Modern Language Association (MLA)
Manna, Soumya Kanti& Bhaumik, Subhasis. A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation. Journal of Robotics No. 2013 (2013), pp.1-15.
https://search.emarefa.net/detail/BIM-495029
American Medical Association (AMA)
Manna, Soumya Kanti& Bhaumik, Subhasis. A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation. Journal of Robotics. 2013. Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-495029
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-495029