Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb
We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2017-07-01
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| Series: | Frontiers in Neuroscience |
| Subjects: | |
| Online Access: | http://journal.frontiersin.org/article/10.3389/fnins.2017.00352/full |
| _version_ | 1818960897161297920 |
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| author | Victoria W. Oguntosin Yoshiki Mori Hyejong Kim Slawomir J. Nasuto Sadao Kawamura Yoshikatsu Hayashi |
| author_facet | Victoria W. Oguntosin Yoshiki Mori Hyejong Kim Slawomir J. Nasuto Sadao Kawamura Yoshikatsu Hayashi |
| author_sort | Victoria W. Oguntosin |
| collection | DOAJ |
| description | We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments. |
| first_indexed | 2024-12-20T12:04:50Z |
| format | Article |
| id | doaj.art-93756109f96a43c4b140cc2a742e5706 |
| institution | Directory Open Access Journal |
| issn | 1662-453X |
| language | English |
| last_indexed | 2024-12-20T12:04:50Z |
| publishDate | 2017-07-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neuroscience |
| spelling | doaj.art-93756109f96a43c4b140cc2a742e57062022-12-21T19:41:25ZengFrontiers Media S.A.Frontiers in Neuroscience1662-453X2017-07-011110.3389/fnins.2017.00352261051Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper LimbVictoria W. Oguntosin0Yoshiki Mori1Hyejong Kim2Slawomir J. Nasuto3Sadao Kawamura4Yoshikatsu Hayashi5Brain Embodiment Lab, Biomedical Engineering, School of Biological Sciences, University of ReadingReading, United KingdomDepartment of Robotics, Ritsumeikan UniversityShiga, JapanDepartment of Robotics, Ritsumeikan UniversityShiga, JapanBrain Embodiment Lab, Biomedical Engineering, School of Biological Sciences, University of ReadingReading, United KingdomDepartment of Robotics, Ritsumeikan UniversityShiga, JapanBrain Embodiment Lab, Biomedical Engineering, School of Biological Sciences, University of ReadingReading, United KingdomWe demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments.http://journal.frontiersin.org/article/10.3389/fnins.2017.00352/full3D printed exoskeletonsoft actuatorscompliant assistanceactive and passive mechanismsgravity compensationreaching motion |
| spellingShingle | Victoria W. Oguntosin Yoshiki Mori Hyejong Kim Slawomir J. Nasuto Sadao Kawamura Yoshikatsu Hayashi Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb Frontiers in Neuroscience 3D printed exoskeleton soft actuators compliant assistance active and passive mechanisms gravity compensation reaching motion |
| title | Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb |
| title_full | Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb |
| title_fullStr | Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb |
| title_full_unstemmed | Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb |
| title_short | Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb |
| title_sort | design and validation of exoskeleton actuated by soft modules toward neurorehabilitation vision based control for precise reaching motion of upper limb |
| topic | 3D printed exoskeleton soft actuators compliant assistance active and passive mechanisms gravity compensation reaching motion |
| url | http://journal.frontiersin.org/article/10.3389/fnins.2017.00352/full |
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