Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton
Exoskeletons arise as the common ground between robotics and biomechanics, where rehabilitation is the main field in which these two disciplines find cohesion. One of the most relevant challenges in upper limb exoskeleton design relies in the high complexity of the human shoulder, where current devi...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Hindawi Publishing Corporation
2018
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| Online Access: | http://hdl.handle.net/1721.1/116174 |
| _version_ | 1811089950465064960 |
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| author | Piña-Martínez, Eduardo Leal-Merlo, Salvador Rodriguez-Leal, Ernesto Roberts Ugrinovic, Ricardo Esteban |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Piña-Martínez, Eduardo Leal-Merlo, Salvador Rodriguez-Leal, Ernesto Roberts Ugrinovic, Ricardo Esteban |
| author_sort | Piña-Martínez, Eduardo |
| collection | MIT |
| description | Exoskeletons arise as the common ground between robotics and biomechanics, where rehabilitation is the main field in which these two disciplines find cohesion. One of the most relevant challenges in upper limb exoskeleton design relies in the high complexity of the human shoulder, where current devices implement elaborate systems only to emulate the drifting center of rotation of the shoulder joint. This paper proposes the use of 3D scanning vision technologies to ease the design process and its implementation on a variety of subjects, while a motion tracking system based on vision technologies is applied to assess the exoskeleton reachable workspace compared with an asymptomatic subject. Furthermore, the anatomic fitting index is proposed, which compares the anatomic workspace of the user with the exoskeleton workspace and provides insight into its features. This work proposes an exoskeleton architecture that considers the clavicle motion over the coronal plane whose workspace is determined by substituting the direct kinematics model with the dimensional parameters of the user. Simulations and numerical examples are used to validate the analytical results and to conciliate the experimental results provided by the vision tracking system. |
| first_indexed | 2024-09-23T14:28:08Z |
| format | Article |
| id | mit-1721.1/116174 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T14:28:08Z |
| publishDate | 2018 |
| publisher | Hindawi Publishing Corporation |
| record_format | dspace |
| spelling | mit-1721.1/1161742022-09-29T09:36:40Z Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton Piña-Martínez, Eduardo Leal-Merlo, Salvador Rodriguez-Leal, Ernesto Roberts Ugrinovic, Ricardo Esteban Massachusetts Institute of Technology. Department of Mechanical Engineering Roberts Ugrinovic, Ricardo Esteban Exoskeletons arise as the common ground between robotics and biomechanics, where rehabilitation is the main field in which these two disciplines find cohesion. One of the most relevant challenges in upper limb exoskeleton design relies in the high complexity of the human shoulder, where current devices implement elaborate systems only to emulate the drifting center of rotation of the shoulder joint. This paper proposes the use of 3D scanning vision technologies to ease the design process and its implementation on a variety of subjects, while a motion tracking system based on vision technologies is applied to assess the exoskeleton reachable workspace compared with an asymptomatic subject. Furthermore, the anatomic fitting index is proposed, which compares the anatomic workspace of the user with the exoskeleton workspace and provides insight into its features. This work proposes an exoskeleton architecture that considers the clavicle motion over the coronal plane whose workspace is determined by substituting the direct kinematics model with the dimensional parameters of the user. Simulations and numerical examples are used to validate the analytical results and to conciliate the experimental results provided by the vision tracking system. 2018-06-07T19:33:39Z 2018-06-07T19:33:39Z 2018-06 2018-02 2018-06-03T07:00:17Z Article http://purl.org/eprint/type/JournalArticle 1176-2322 1754-2103 http://hdl.handle.net/1721.1/116174 Piña-Martínez, Eduardo et al. "Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton." Applied Bionics and Biomechanics 2018 (June 2018): 6019381 © 2018 Eduardo Piña-Martínez et al en http://dx.doi.org/10.1155/2018/6019381 Applied Bionics and Biomechanics Creative Commons Attribution http://creativecommons.org/licenses/by/4.0/ Copyright © 2018 Eduardo Piña-Martínez et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. application/pdf Hindawi Publishing Corporation Hindawi Publishing Corporation |
| spellingShingle | Piña-Martínez, Eduardo Leal-Merlo, Salvador Rodriguez-Leal, Ernesto Roberts Ugrinovic, Ricardo Esteban Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton |
| title | Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton |
| title_full | Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton |
| title_fullStr | Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton |
| title_full_unstemmed | Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton |
| title_short | Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton |
| title_sort | vision system based design and assessment of a novel shoulder joint mechanism for an enhanced workspace upper limb exoskeleton |
| url | http://hdl.handle.net/1721.1/116174 |
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