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Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot

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Social Robotics (ICSR 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13086))

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Abstract

Previous studies have shown that patient’s voluntary participation is one of the key factors in improving rehabilitation effects. End-effector and exoskeleton type robots have been developed to support rehabilitation training at different impedance levels. However, these robots either fail to take the movement of the shoulder girdle into account or suffer from complex and massive shoulder mechanisms. In this paper, we merge the advantages of the end-effector and exoskeleton type robots and propose a simple and effective semi-exoskeleton upper limb robot with seven degrees of freedom to support the impedance training of the human shoulder complex and elbow joint. Besides, an admittance control scheme is developed to generate desired movements during training. Experiments on five subjects are conducted to assess the feasibility and performance of the proposed robot. Results show that the proposed robot has satisfactory performance in terms of shoulder kinematic compatibility and human-robot interaction. This study could pave way for a practical rehabilitation robot for patients with stroke in real-life.

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Acknowledgements

This work was supported in part by the National Natural Science Foundation of China (Grant No. 52075177), Joint Fund of the Ministry of Education for Equipment Pre-Research (Grant No. 6141A02033124), Research Foundation of Guangdong Province (Grant No. 2019A050505001 and 2018KZDXM002), Guangzhou Research Foundation (Grant No. 202002030324 and 201903010028), Zhongshan Research Foundation (Grant No.2020B2020), and Shenzhen Institute of Artificial Intelligence and Robotics for Society (Grant No. AC01202005011).

Author information

Authors and Affiliations

  1. Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China

    Chengqi Lin, Weifeng Wu, Gengliang Lin & Longhan Xie

  2. Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Siqi Cai

Authors
  1. Chengqi Lin
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  2. Weifeng Wu
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  3. Gengliang Lin
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  4. Siqi Cai
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  5. Longhan Xie
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Corresponding authors

Correspondence to Siqi Cai or Longhan Xie .

Editor information

Editors and Affiliations

  1. Department of Electronic and Communication Engineering, National University of Singapore, Faculty of Engineering, Singapore, Singapore

    Haizhou Li

  2. The National University of Singapore, Singapore, Singapore

    Shuzhi Sam Ge

  3. A*STAR Institute for Infocomm Research, Singapore, Singapore

    Yan Wu

  4. Center for Human Technologies, Istituto Italiano Tecnologia, Genoa, Italy

    Agnieszka Wykowska

  5. Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS, USA

    Hongsheng He

  6. Qingdao University, Qingdao, China

    Xiaorui Liu

  7. School of Cyber Science and Technology, Beihang University, Beijing, Beijing, China

    Dongyu Li

  8. Social Cognition Human-Robot Interaction, Istituto Italiano di Tecnologia, Genoa, Italy

    Jairo Perez-Osorio

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Lin, C., Wu, W., Lin, G., Cai, S., Xie, L. (2021). Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot. In: Li, H., et al. Social Robotics. ICSR 2021. Lecture Notes in Computer Science(), vol 13086. Springer, Cham. https://doi.org/10.1007/978-3-030-90525-5_52

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  • DOI: https://doi.org/10.1007/978-3-030-90525-5_52

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-90524-8

  • Online ISBN: 978-3-030-90525-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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