Rehabilitation Robotics: a Wearable Exo-Skeleton for Tremor Assessment and Suppression

There is a need for wearable powered upper limb exoskeletons able to apply forces to the upper limb for use by people with disabilities and/or limb weakness or injury. The robotic exoskeleton called WOTAS (Wearable Orthosis for Tremor Assessment and Suppression) presented in this paper will provide...

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Bibliographic Details
Main Authors: Rocon, E., Ruiz, A.F., Pons, J.L., Belda-Lois, J.M., Sanchez-Lacuesta, J.J.
Format: Conference Proceeding
Language:English
Subjects:
Biomedical monitoring
Cognitive robotics
Exoskeletons
Force control
Force feedback
HRI
Human robot interaction
Impedance
impedance control
Rehabilitation robotics
Robot control
Testing
tremor suppression
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Summary:There is a need for wearable powered upper limb exoskeletons able to apply forces to the upper limb for use by people with disabilities and/or limb weakness or injury. The robotic exoskeleton called WOTAS (Wearable Orthosis for Tremor Assessment and Suppression) presented in this paper will provide a means of testing non-grounded control strategies in order to help these people. For instance, biomechanical loading, in particular, viscous loading of the upper limb has been proposed in the literature as a means for suppressing pathologic tremor. This article describes in detail the general concept for WOTAS, outlining the special features of the design and selection of system components.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2005.1570451