Scholarlink

<p>Stroke and upper limb dysfunction conditions remain a significant challenge for affected patients. It continues to impose a substantial social and economic burden substantially. To address these challenges, numerous exoskeleton robots have been developed in recent years for assistance and rehabilitation. Most rehabilitation devices are found to be clinically static-based due to the difficulties of their significant weight and size, and only a few are fully portable and wearable. This study introduces a Portable Upper Limb Exoskeleton (PULExo) arm, a lightweight, compact, and fully wearable cable-driven exoskeleton for the upper extremity. Our research aims to assist persons with neurological and musculoskeletal diseases by allowing them to perform rehabilitation exercises independently and without supervision. The PULExo device comprises 7 degrees of freedom (DOF), with potential applications in active assistance, featuring three active DOFs and four passive DOFs to allow for either restricted or free arm movement. The kinematics and dynamics of the exoskeleton are enhanced by incorporating Bowden cable transmission and utilizing a combination of active and passive joints. The kinematics-based experimental analyses are conducted and compared with simulation results. The range of motion (ROM) of PULExo’s active joints shows that shoulder abduction/adduction and forearm-wrist pronation/supination provide 75% and 80%, respectively, of the ROM required for activities of daily living (ADL), while elbow flexion/extension facilitates the full ROM needed for ADL. PULExo’s portability and wearability offer flexibility and convenience for efficiently engaging in rehabilitation exercises at various places, such as at home and outdoors, along with the traditional clinical applications. The preliminary simulation and experimental analysis exhibit smooth and satisfactory results, validating the kinematics performance of the developed exoskeleton. The total weight of the exoskeleton device is 3.85&#xa0;kg.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

A lightweight, fully wearable 7-DOF upper limb exoskeleton for home-based rehabilitation: design, modeling, and experimental validation

  • 期刊论文

  • 发表日期：

    2025年4月28日

查看全文
  • Danaish,
  • Liang Han,
  • Gelin Xu,
  • Yangzhen Gao,
  • Mohammad Abbas Baig,
  • GuanCheng Dong,
  • Zongliang Xu

摘要

Stroke and upper limb dysfunction conditions remain a significant challenge for affected patients. It continues to impose a substantial social and economic burden substantially. To address these challenges, numerous exoskeleton robots have been developed in recent years for assistance and rehabilitation. Most rehabilitation devices are found to be clinically static-based due to the difficulties of their significant weight and size, and only a few are fully portable and wearable. This study introduces a Portable Upper Limb Exoskeleton (PULExo) arm, a lightweight, compact, and fully wearable cable-driven exoskeleton for the upper extremity. Our research aims to assist persons with neurological and musculoskeletal diseases by allowing them to perform rehabilitation exercises independently and without supervision. The PULExo device comprises 7 degrees of freedom (DOF), with potential applications in active assistance, featuring three active DOFs and four passive DOFs to allow for either restricted or free arm movement. The kinematics and dynamics of the exoskeleton are enhanced by incorporating Bowden cable transmission and utilizing a combination of active and passive joints. The kinematics-based experimental analyses are conducted and compared with simulation results. The range of motion (ROM) of PULExo’s active joints shows that shoulder abduction/adduction and forearm-wrist pronation/supination provide 75% and 80%, respectively, of the ROM required for activities of daily living (ADL), while elbow flexion/extension facilitates the full ROM needed for ADL. PULExo’s portability and wearability offer flexibility and convenience for efficiently engaging in rehabilitation exercises at various places, such as at home and outdoors, along with the traditional clinical applications. The preliminary simulation and experimental analysis exhibit smooth and satisfactory results, validating the kinematics performance of the developed exoskeleton. The total weight of the exoskeleton device is 3.85 kg.