The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project i...

Ram Murat Singh is with the National Institute of Technical teachers Training and Research, Chandigarh, India (phone: +919041933679; e-mail: rammurat.singh@ gmail.com). Dr. S. Chatterji (Prof. and head, Electrical Engg deptt.) is with National Institute of Technical teachers Training and Research, Chandigarh, India (e-mail: [email protected]). Abstract—In the present review article the...

This paper touches upon the issue of designing of an upper-limb exoskeleton used for rehabilitation. Mainly there are presented the results concerning the mechanical design. The exoskeleton, also known as orthosis, has 12 degrees of freedom (DOF). Among 12 DOF there can be distinguished 7 DOF which are actively controlled during rehabilitation, 3 passive DOF which are responsible for wrist move...

In this paper, we introduce the concept of an exoskeleton as a new abstraction of arbitrary shapes that succinctly conveys both the perceptual and the geometric structure of a 3D model. We extract exoskeletons via a principled framework that combines segmentation and shape approximation. Our method starts from a segmentation of the shape into perceptually relevant parts and then constructs the ...

This paper represents the first part of our work in which a successful exoskeleton system has been designed. With this design, the concentration is on effects of compliant human – exoskeleton robot on kinematics and muscle activity during human walking with or without carrying loads. In order to achieve these aims, two control methods are used: kinematic and surface electromyography (sEMG) – ba...

Despite the benefits of the robotic technologies on rehabilitation, human involvement is still critical. On the aspect of patients, they also need the supervision of the therapist as well as their active guidance and their expertise. In this paper, a novel master-slave rehabilitation system with force feedback and a meaningful training model for recovering the elbow joint function is presented....

In this paper we propose an exoskeleton control method for adaptive learning of assistive joint torque profiles in periodic tasks. We use human muscle activity as feedback to adapt the assistive joint torque behaviour in a way that the muscle activity is minimised. The user can then relax while the exoskeleton takes over the task execution. If the task is altered and the existing assistive beha...

BACKGROUND Even though walking can be sustained for great distances, considerable energy is required for plantarflexion around the instant of opposite leg heel contact. Different groups attempted to reduce metabolic cost with exoskeletons but none could achieve a reduction beyond the level of walking without exoskeleton, possibly because there is no consensus on the optimal actuation timing. Th...

Main objective of this research is to find out the torque characteristics and its relation to critical parameters that are essential to run an exoskeleton. The torque required for the arm movements, joint torques because of gravity and residual forces are the key parameters that one need to consider while designing an exoskeleton for the upper extremity joints. For finding out these parameters,...

The integration of the brain-machine interface (BMI) and the exoskeleton technique has the potential to promote the understanding of fundamental principles in neural control of movement, as well as to motivate a new generation of rehabilitation or power augmentation exoskeleton systems. In this paper, the kinematic design and development of a 6-DOF upper limb exoskeleton for a BMI study is pres...