SMA based wrist exoskeleton for rehabilitation therapy

This paper presents a rehabilitation wearable exoskeleton for wrist joint with two degrees of freedom (DOF), flexion-extension and adduction-abduction (radial and ulnar deviation), actuated with Shape Memory Alloy (SMA) based actuators. Thanks to this type of actuators, the proposed device presents...

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Bibliographic Details
Main Authors: Serrano, David, Copaci, Dorin-Sabin, Moreno, Luis, Blanco, Dolores
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Biological system modeling
Exoskeletons
Medical treatment
Robots
Wires
Wrist
Online Access:Request full text
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Summary:This paper presents a rehabilitation wearable exoskeleton for wrist joint with two degrees of freedom (DOF), flexion-extension and adduction-abduction (radial and ulnar deviation), actuated with Shape Memory Alloy (SMA) based actuators. Thanks to this type of actuators, the proposed device presents a very light weight and noiseless operation, in comparison with similar devices. The preliminary results obtained over real tests with the wrist exoskeleton are presented. This prototype demonstrates that SMA actuator technology is a viable alternative when investigating possible improvement of rehabilitation robotic devices in terms of weight, size and cost.
ISSN:2153-0866
DOI:10.1109/IROS.2018.8593987