The Science of Virtual Reality and Virtual Environments
The Science of Virtual Reality and Virtual Environments
A Seven-degrees-of-freedom Robot-arm Driven by Pneumatic Artificial Muscles for Humanoid Robots
International Journal of Robotics Research
A Simple Robotic System for Neurorehabilitation
Autonomous Robots
International Journal of Robotics Research
HCI Beyond the GUI: Design for Haptic, Speech, Olfactory, and Other Nontraditional Interfaces
HCI Beyond the GUI: Design for Haptic, Speech, Olfactory, and Other Nontraditional Interfaces
Development of a 3DOF mobile exoskeleton robot for human upper-limb motion assist
Robotics and Autonomous Systems
Two-Arm Haptic Force-Feedbacked Aid for the Shoulder and Elbow Telerehabilitation
Edutainment '08 Proceedings of the 3rd international conference on Technologies for E-Learning and Digital Entertainment
Proxy-based Sliding Mode Control of a Planar Pneumatic Manipulator
International Journal of Robotics Research
Ergonomics of exoskeletons: subjective performance metrics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Modeling and control of a 7DOF exoskeleton robot for arm movements
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
A wearable rehabilitation robotic hand driven by PM-TS actuators
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part II
International Journal of Robotics Research
Sliding mode control with fuzzy compensator of pneumatic muscle actuator
International Journal of Computer Applications in Technology
Control of a robotic orthosis for gait rehabilitation
Robotics and Autonomous Systems
Expert Systems with Applications: An International Journal
Optimal design of a bio-inspired anthropocentric shoulder rehabilitator
Applied Bionics and Biomechanics
A force-feedback exoskeleton for upper-limb rehabilitation in virtual reality
Applied Bionics and Biomechanics
Influence of attachment pressure and kinematic configuration on pHRI with wearable robots
Applied Bionics and Biomechanics
Isotropy of an upper limb exoskeleton and the kinematics and dynamics of the human arm
Applied Bionics and Biomechanics
Bio-inspired control of an arm exoskeleton joint with active-compliant actuation system
Applied Bionics and Biomechanics
Exoskeleton-based robotic platform applied in biomechanical modelling of the human upper limb
Applied Bionics and Biomechanics
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Full or partial loss of function in the upper limb is an increasingly common due to sports injuries, occupational injuries, spinal cord injuries, and strokes. Typically treatment for these conditions relies on manipulative physiotherapy procedures which are extremely labour intensive. Although mechanical assistive device exist for limbs this is rare for the upper body.In this paper we describe the construction and testing of a seven degree of motion prototype upper arm training/rehabilitation (exoskeleton) system. The total weight of the uncompensated orthosis is less than 2 kg. This low mass is primarily due to the use of a new range of pneumatic Muscle Actuators (pMA) as power source for the system. This type of actuator, which has also an excellent power/weight ratio, meets the need for safety, simplicity and lightness. The work presented shows how the system takes advantage of the inherent controllable compliance to produce a unit that is extremely powerful, providing a wide range of functionality (motion and forces over an extended range) in a manner that has high safety integrity for the patient. A training control scheme is introduced which is used to control the orthosis when used as exercise facility. Results demonstrate the potential of the device as an upper limb training, rehabilitation and power assist (exoskeleton) system.