TY - GEN
T1 - A hybrid multi-joint robotic shoulder exoskeleton for stroke rehabilitation
AU - Niyetkaliyev, A. S.
AU - Sariyildiz, E.
AU - Alici, G.
N1 - Funding Information:
*Research supported by the seed funding jointly provided by Faculty of Engineering and Information Sciences, and School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW 2522 Australia.
Funding Information:
This research is supported by the seed funding jointly provided by Faculty of Engineering and Information Sciences, and School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong. The authors would like to thank the Master of Engineering (Mechatronics) Student at UOW, Allan E. Reji, for his help with the CAD design and preparation of the accompanying multimedia attachment.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/1/1
Y1 - 2018/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85053866715&partnerID=8YFLogxK
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U2 - 10.1109/AIM.2018.8452681
DO - 10.1109/AIM.2018.8452681
M3 - Conference contribution
AN - SCOPUS:85053866715
SN - 9781538618547
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 857
EP - 862
BT - AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
Y2 - 9 July 2018 through 12 July 2018
ER -