Toward Avoiding Misalignment: Dimensional Synthesis of Task-Oriented Upper-Limb Hybrid Exoskeleton

One of the primary reasons for wearable exoskeleton rejection is user discomfort caused by misalignment between the coupled system, i.e., the human limb and the exoskeleton. The article focuses primarily on the solution strategies for misalignment issues. The purpose of this work is to facilitate re...

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Bibliographic Details
Published in:Robotics (Basel) 2022-07, Vol.11 (4), p.74
Main Authors: Gupta, Sakshi, Agrawal, Anupam, Singla, Ekta
Format: Article
Language:English
Subjects:
Anthropomorphism
Degrees of freedom (Mechanics)
Design and construction
dimensional synthesis
Elbow
Exoskeletons
Implants, Artificial
joint-misalignment
Kinematics
Limbs
Mechanical properties
Misalignment
Prosthesis
Recovery (Medical)
Rehabilitation
Robotics
Robots
Spinal cord injuries
Task space
task-oriented configuration
Technology application
upper-limb exoskeleton
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Summary:One of the primary reasons for wearable exoskeleton rejection is user discomfort caused by misalignment between the coupled system, i.e., the human limb and the exoskeleton. The article focuses primarily on the solution strategies for misalignment issues. The purpose of this work is to facilitate rehabilitative exercise-based exoskeletons for neurological and muscular disorder patients, which can aid a user in following the appropriate natural trajectory with the least amount of misalignment. A double four-bar planar configuration is used for this purpose. The paper proposes a methodology for developing an optimum task-oriented upper-limb hybrid exoskeleton with low active degrees-of-freedom (dof) that enables users to attain desired task space locations (TSLs) while maintaining an acceptable range of kinematic performance. Additionally, the study examines the influence of an extra restriction placed at the elbow motion and the compatibility of connected systems. The findings and discussion indicate the usefulness of the proposed concept for upper-limb rehabilitation.
ISSN:2218-6581
2218-6581
DOI:10.3390/robotics11040074