Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy

Miho Ogura, Jun Ichiro Furukawa, Tatsuya Teramae, Tomoyuki Noda, Kohei Okuyama, Michiyuki Kawakami, Meigen Liu, Jun Morimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Since exoskeletons show potential for rehabilitation therapy, many scientists have been designing upper extremity exoskeletons. Unfortunately, few have successfully provided a shoulder exoskeleton for severe impairment. Toward Brain-Machine-Interface (BMI) rehabilitation robot therapies for severe upper extremity impairment, this paper introduces a shoulder exoskeleton robot with a modular joint and an off-board modular actuator. We applied a Modular Exoskeletal Joint (MEJ) to a shoulder exoskeleton that was driven by Pneumatic Artificial Muscles (PAMs) transmitted by a Bowden cable. Our objective is generating passive movements triggered by BMI. Since large torque has to be generated for assist a whole arm, we newly designed a more powerful Nested-cylinder PAMs (NcPAMs) than our previous work. As a proof of the concept of the mechatronics design, we show the tracking performance of the periodic trajectory of a joint angle with both human and mannequin arms as simulated impairments. Our result shows that the tracking error is sufficiently small in all of the conditions and that our developed shoulder exoskeleton is an adequate substitute for flexion/extension movements.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1105-1109
Number of pages5
ISBN (Electronic)9781538666500
DOIs
Publication statusPublished - 2019 Jan 16
Event2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 - Miyazaki, Japan
Duration: 2018 Oct 72018 Oct 10

Publication series

NameProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

Conference

Conference2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
CountryJapan
CityMiyazaki
Period18/10/718/10/10

ASJC Scopus subject areas

  • Information Systems
  • Information Systems and Management
  • Health Informatics
  • Artificial Intelligence
  • Computer Networks and Communications
  • Human-Computer Interaction

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  • Cite this

    Ogura, M., Furukawa, J. I., Teramae, T., Noda, T., Okuyama, K., Kawakami, M., Liu, M., & Morimoto, J. (2019). Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy. In Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 (pp. 1105-1109). [8616191] (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2018.00195