Paper Info
Title
An upper-body rehabilitation exoskeleton Harmony with an anatomical shoulder mechanism
Abstract
AbstractWe present an upper-body exoskeleton for rehabilitation, called Harmony, that provides natural coordinated motions on the shoulder with a wide range of motion, and force and impedance controllability. The exoskeleton consists of an anatomical shoulder mechanism with five active degrees of freedom, and one degree of freedom elbow and wrist mechanisms powered by series elastic actuators. The dynamic model of the exoskeleton is formulated using a recursive Newton-Euler algorithm with spatial dynamics representation. A baseline control algorithm is developed to achieve dynamic transparency and scapulohumeral rhythm assistance, and the coupled stability of the robot-human system at the baseline control is investigated. Experiments were conducted to evaluate the kinematic and dynamic characteristics of the exoskeleton. The results show that the exoskeleton exhibits good kinematic compatibility to the human body with a wide range of motion and performs task-space force and impedance control behaviors reliably.
Year
DOI
Venue
2017
10.1177/0278364917706743
Periodicals
Keywords
Field
DocType
Upper-body exoskeleton, robotic rehabilitation, shoulder mechanism, scapulohumeral rhythm, dynamic modeling, series elastic actuator
Range of motion,Degrees of freedom (statistics),Kinematics,Controllability,Control theory,Impedance control,System dynamics,Exoskeleton,Mathematics,Actuator
Journal
Volume
Issue
ISSN
36
4
0278-3649
Citations 
PageRank 
References 
8
0.73
12
Authors
2
Name
Order
Citations
PageRank
Bongsu Kim1101.80
Ashish D. Deshpande24211.33