A portable elbow exoskeleton for three stages of rehabilitation

Journal article

Manna, S. and Dubey, V. N. 2019. A portable elbow exoskeleton for three stages of rehabilitation. Journal of Mechanisms and Robotics. 11 (6), p. 065002. https://doi.org/10.1115/1.4044535
AuthorsManna, S. and Dubey, V. N.

Patients suffering from stroke need to undergo a standard and intensive rehabilitation therapy. The rehabilitation training consists of three sequential stages: the first stage is controlled joint movement under external actuator, the second stage deals with supporting the movements by providing assistive force, and the last stage provides variety and difficulty to exercises. Most of the exoskeletons developed so far for rehabilitation are restricted to a particular type of activity. Although a few exoskeletons incorporate different modes of rehabilitation, those are software controlled requiring sensory data acquisition and complex control architecture. To bridge this gap, a portable elbow exoskeleton has been developed for delivering three stages of rehabilitation in a single structure without affecting the range of motion and safety features. Use of electric motor and springs have been arranged in the actuation mechanism to minimize the energy consumption. The developed exoskeleton enhances torque to weight ratio compared to existing models, and all the three modes of rehabilitation have been controlled using a single motor.

KeywordsMechanism design; Wearable robots; Exoskeleton; Rehabilitation; Stroke
JournalJournal of Mechanisms and Robotics
Journal citation11 (6), p. 065002
PublisherThe American Society of Mechanical Engineers
Digital Object Identifier (DOI)https://doi.org/10.1115/1.4044535
Official URLhttps://doi.org/10.1115/1.4044535
Publication dates
Print03 Sep 2019
Online08 Oct 2019
Publication process dates
Accepted02 Aug 2019
Deposited07 Jan 2021
Accepted author manuscript
File Access Level
Output statusPublished

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