A hybrid multi-joint robotic shoulder exoskeleton for stroke rehabilitation

A. S. Niyetkaliyev, E. Sariyildiz, G. Alici

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The appropriate functionality of the human shoulder including the shoulder girdle movements is crucial for effective use of the arm during activities of daily living (ADL). It is important to assist all shoulder degrees-of-freedom (DOFs) when implementing robotic exoskeletons for rehabilitation purposes to increase the range of motion (ROM) and avoid any joint axes misalignments between the robot and human's shoulder that cause discomfort to the user. In this paper, a new lightweight shoulder exoskeleton is proposed, which can provide anatomically accurate shoulder movements to the neurologically impaired subjects by assisting all of the human shoulder DOFs and can minimize any effect of joint axes misalignments. The description and operation of this hybrid multi-joint ergonomic mechanism is presented in detail. Its kinematics, preliminary workspace analysis and mechanical interference issues are examined using CAD software tools. The discussion and future work on the proposed robotic shoulder exoskeleton are given to indicate its benefits of larger workspace, intrinsic compliance and increased functionality.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages857-862
Number of pages6
ISBN (Print)9781538618547
DOIs
Publication statusPublished - Jan 1 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: Jul 9 2018Jul 12 2018

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2018-July

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period7/9/187/12/18

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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