In recent decades, many researchers have focused on the design and development of exoskeletons. Several strategies have been proposed to develop increasingly more efficient and biomimetic mechanisms. However, existing exoskeletons tend to be expensive and only available for a few people. This paper introduces a new gravity-balanced upper-limb exoskeleton suited for rehabilitation applications and designed with the main objective of reducing the cost of the components and materials. Regarding mechanics, the proposed design significantly reduces the motor torque requirements, because a high cost is usually associated with high-torque actuation. Regarding the electronics, we aim to exploit the microprocessor peripherals to obtain parallel and real-time execution of communication and control tasks without relying on expensive RTOSs. Regarding sensing, we avoid the use of expensive force sensors. Advanced control and rehabilitation features are implemented, and an intuitive user interface is developed. To experimentally validate the functionality of the proposed exoskeleton, a rehabilitation exercise in the form of a pick-and-place task is considered. Experimentally, peak torques are reduced by 89% for the shoulder and by 84% for the elbow.


    Access

    Download


    Export, share and cite



    Title :

    An Affordable Upper-Limb Exoskeleton Concept for Rehabilitation Applications


    Contributors:
    Palazzi E. (author) / Luzi L. (author) / Dimo E. (author) / Meneghetti M. (author) / Vicario R. (author) / Luzia R. F. (author) / Vertechy R. (author) / Calanca A. (author) / Palazzi E. / Luzi L.

    Publication date :

    2022-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Rehabilitation Upper Limb Exoskeleton: Human-Robot Simulation Framework

    Sosa Méndez, Deira / García Cena, Cecilia E. / Saltarén Pazmiño, Roque | Springer Verlag | 2024


    Control of an exoskeleton robot for upper limb rehabilitation

    Liu, Lin / Shi, Yunyong / Xie, Le | IEEE | 2016


    The Analysis and Control of Exoskeleton Upper-Limb Rehabilitation Robot

    Wang, Lan ;Yin, Zheng Qian ;Sun, Yuan Hang | Trans Tech Publications | 2013


    Configuration Design and Simulation of Exoskeleton for Upper Limb Rehabilitation Train

    Zhang, Yuan ;Liu, Qiang ;Jiang, Ji Liang | Trans Tech Publications | 2014


    Task-Based Trajectory Planning for an Exoskeleton Upper Limb Rehabilitation Robot

    Meng, Qiaoling / Shao, Haicun / Wang, Lulu et al. | Springer Verlag | 2018