A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation
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...
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2013/741359 |
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| author | Soumya Kanti Manna Subhasis Bhaumik |
| author_facet | Soumya Kanti Manna Subhasis Bhaumik |
| author_sort | Soumya Kanti Manna |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-42a98f0eac894253be16431a98381100 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-42a98f0eac894253be16431a983811002025-02-03T05:47:05ZengWileyJournal of Robotics1687-96001687-96192013-01-01201310.1155/2013/741359741359A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for RehabilitationSoumya Kanti Manna0Subhasis Bhaumik1School of Mechatronics & Robotics, Bengal Engineering & Science University, Shibpur, Howrah 711103, IndiaSchool of Mechatronics & Robotics, Bengal Engineering & Science University, Shibpur, Howrah 711103, IndiaThe 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.http://dx.doi.org/10.1155/2013/741359 |
| spellingShingle | Soumya Kanti Manna Subhasis Bhaumik A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation Journal of Robotics |
| title | A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation |
| title_full | A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation |
| title_fullStr | A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation |
| title_full_unstemmed | A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation |
| title_short | A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation |
| title_sort | bioinspired 10 dof wearable powered arm exoskeleton for rehabilitation |
| url | http://dx.doi.org/10.1155/2013/741359 |
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