Paper Info
Title
Design, Development, And Testing Of An Intelligent Wearable Robotic Exoskeleton Prototype For Upper Limb Rehabilitation
Abstract
Neuromotor rehabilitation and recovery of upper limb functions are essential to improve the life quality of patients who have suffered injuries or have pathological sequels, where it is desirable to enhance the development of activities of daily living (ADLs). Modern approaches such as robotic-assisted rehabilitation provide decisive factors for effective motor recovery, such as objective assessment of the progress of the patient and the potential for the implementation of personalized training plans. This paper focuses on the design, development, and preliminary testing of a wearable robotic exoskeleton prototype with autonomous Artificial Intelligence-based control, processing, and safety algorithms that are fully embedded in the device. The proposed exoskeleton is a 1-DoF system that allows flexion-extension at the elbow joint, where the chosen materials render it compact. Different operation modes are supported by a hierarchical control strategy, allowing operation in autonomous mode, remote control mode, or in a leader-follower mode. Laboratory tests validate the proper operation of the integrated technologies, highlighting a low latency and reasonable accuracy. The experimental result shows that the device can be suitable for use in providing support for diagnostic and rehabilitation processes of neuromotor functions, although optimizations and rigorous clinical validation are required beforehand.
Year
DOI
Venue
2021
10.3390/s21165411
SENSORS
Keywords
DocType
Volume
robotic exoskeletons, wearable devices, artificial intelligence (AI), artificial neural networks (ANN), adaptive algorithms, upper limbs, rehabilitation, healthcare, control strategies
Journal
21
Issue
ISSN
Citations 
16
1424-8220
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Manuel Andrés Vélez-Guerrero101.01
Mauro Callejas-Cuervo200.34
Stefano Mazzoleni301.35