Abstract
To help the shoulder lift the arm against gravity, this paper proposes a soft cable-driven exoskeleton system. The shoulder posture is measured in real time by the heading and attitude reference systems distributed on the forearm and torso, and the ideal output tension of the two rope systems is calculated based on this. The flexible actuator realizes the tension tracking to assist the frontal flexion and lateral abduction of the user’s shoulder. The difference of the EMG signal of anterior deltoid and middle deltoid was analyzed in static/dynamic test, with/without exoskeleton, shoulder joint muscles The results show that the exoskeleton is compliant with the movement, and there is a significant decrease of the EMG signal of the anterior deltoid and middle deltoid wearing the exoskeleton, meaning a reduction of the muscle load.
National Natural Science Foundation of China (Grant No. 91848104) and Beijing Natural Science Foundation-Haidian Foundation (Grant No. 2018YFB1307000).
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Sugar, T.G., et al.: Design and control of RUPERT: a device for robotic upper extremity repetitive therapy. IEEE Trans. Neural Syst. Rehabilitation Eng. 15(3), 336–346 (2007)
Cai, Z., et al.: Design & control of a 3D stroke rehabilitation platform. In: 2011 IEEE International Conference on Rehabilitation Robotics. IEEE, pp. 1–6 (2011)
Ren, Y., Park, H.-S., Zhang, L-Q.: Developing a whole-arm exoskeleton robot with hand opening and closing mechanism for upper limb stroke rehabilitation. In: 2009 IEEE International Conference on Rehabilitation Robotics. IEEE, pp. 761–765 (2009)
Mihelj, M., Nef, T., Riener, R.: ARMin II-7 DoF rehabilitation robot: mechanics and kinematics. In: Proceedings 2007 IEEE International Conference on Robotics and Automation. IEEE, pp. 4120–4125 (2007)
De Rossi, S., et al.: Gait improvements in stroke patients with a soft exosuit. In: The Proceedings of the Gait and Clinical Movement Analysis Society (GCMAS) Meeting. Portland, OR (2015)
Asbeck, A.T., et al.: Biologically-inspired soft exosuit. In: 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR). IEEE, pp. 1–8 (2013)
Asbeck, A.T., et al.: A biologically inspired soft exosuit for walking assistance. Int. J. Robot. Res. 34(6), 744–762 (2015)
Galiana, I., et al.: Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, pp. 317–322 (2012)
O’neill, C.T., et al.: A soft wearable robot for the shoulder: design, characterization, and preliminary testing. In: 2017 International Conference on Rehabilitation Robotics (ICORR). IEEE, pp. 1672–1678 (2017)
Gaponov, I., Popov, D., Lee, S.J., Ryu, J.-H.: Auxilio: a portable cable-driven exosuit for upper extremity assistance. Int. J. Control, Autom. Syst.15(1), 73–84 (2016). https://doi.org/10.1007/s12555-016-0487-7
Kim, Y.G., et al.: Development of a soft exosuit for industrial applications. In: 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). IEEE, pp. 324–329 (2018)
Charalambous, C.P., Eastwood, S.: Normal and abnormal motion of the shoulder. In: Classic Papers in Orthopaedics, pp. 331–333. Springer, London (2014)
Lenarcic, J., Stanisic, M.: A humanoid shoulder complex and the humeral pointing kinematics. IEEE Trans. Robot. Autom. 19(3), 499–506 (2003)
Rosen, J., et al.: The human arm kinematics and dynamics during daily activities-toward a 7 DOF upper limb powered exoskeleton. In: ICAR’05. Proceedings., 12th International Conference on Advanced Robotics, pp. 532–539. IEEE (2005)
Winter, D.A.: Biomechanics and motor control of human movement. Wiley (2009)
Prayudi, I., Kim, D.: Design and implementation of IMU-based human arm motion capture system. In: IEEE International Conference on Mechatronics and Automation. IEEE 2012, pp. 670–675 (2012)
Roetenberg, D., Luinge, H., Slycke, P.: Xsens MVN: Full 6DOF human motion tracking using miniature inertial sensors. Xsens Motion Technologies BV, Technical report, 1 (2009)
Pratt, G.A., Williamson, M.M.: Series elastic actuators. In: Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots. IEEE, pp. 399–406 (1995)
Veneman, J.F., et al.: Design of a series elastic-and Bowden cable-based actuation system for use as torque-actuator in exoskeleton-type training. In: 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. IEEE, pp. 496–499 (2005)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this paper
Cite this paper
He, W., Zhang, W., Ding, X. (2021). Self Adjusting Exosuit for Shoulder. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_68
Download citation
DOI: https://doi.org/10.1007/978-3-030-89095-7_68
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-89094-0
Online ISBN: 978-3-030-89095-7
eBook Packages: Computer ScienceComputer Science (R0)