Design and validation of exoskeleton actuated by soft modules towards neurorehabilitation - vision-based control for precise reaching motion of upper limb

Oguntosin, V. W., Mori, Y., Kim, H., Nasuto, S. J. ORCID: https://orcid.org/0000-0001-9414-9049, Kawamura, S. and Hayashi, Y. ORCID: https://orcid.org/0000-0002-9207-6322 (2017) Design and validation of exoskeleton actuated by soft modules towards neurorehabilitation - vision-based control for precise reaching motion of upper limb. Frontiers in Neuroscience, 11. 352. ISSN 1662-453X doi: 10.3389/fnins.2017.00352

Abstract/Summary

We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realised by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. % Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. % The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable wearable and portable systems are required to be customised for individuals with specific motor impairments.

Item Type	Article
URI	https://reading-clone.eprints-hosting.org/id/eprint/70778
Item Type	Article
Refereed	Yes
Divisions	Life Sciences > School of Biological Sciences > Department of Bio-Engineering
Publisher	Frontiers
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