Design of a haptic arm exoskeleton for training and rehabilitation

A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash, and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of sp...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2006-06, Vol.11 (3), p.280-289
Main Authors: Gupta, A., O'Malley, M.K.
Format: Article
Language:English
Subjects:
Aids
Arm exoskeleton
Damping
Design engineering
design methodology
Devices
Exoskeletons
force feedback
haptic interface
Haptic interfaces
Haptics
Humans
Interfaces
Kinematics
Mechatronics
Neurofeedback
Physical therapy
Rehabilitation
Rehabilitation robotics
robot aided rehabilitation
Training
Virtual environment
Wrist
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Summary:A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash, and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of space and weight limitations, workspace requirements, and the kinematic constraints placed on the device by the human arm. These constraints impose conflicting design requirements on the engineer attempting to design an arm exoskeleton. In this paper, the authors present a detailed review of the requirements and constraints that are involved in the design of a high-quality haptic arm exoskeleton. In this context, the design of a five-degree-of-freedom haptic arm exoskeleton for training and rehabilitation in virtual environments is presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training. Motivation for such applications is based on findings that show robot-assisted physical therapy aids in the rehabilitation process following neurological injuries. As a training tool, the device provides a means to implement flexible, repeatable, and safe training methodologies.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2006.875558