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

doi:10.1109/SMC.2018.00195

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

Department of Rehabilitation Medicine

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

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 language	English
Title of host publication	Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1105-1109
Number of pages	5
ISBN (Electronic)	9781538666500
DOIs	https://doi.org/10.1109/SMC.2018.00195
Publication status	Published - 2019 Jan 16
Event	2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 - Miyazaki, Japan Duration: 2018 Oct 7 → 2018 Oct 10

Publication series

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

Conference

Conference	2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
Country/Territory	Japan
City	Miyazaki
Period	18/10/7 → 18/10/10

ASJC Scopus subject areas

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

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/SMC.2018.00195

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

Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy. / Ogura, Miho; Furukawa, Jun Ichiro; Teramae, Tatsuya et al.
Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1105-1109 8616191 (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ogura, M, Furukawa, JI, 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., 8616191, Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1105-1109, 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, Miyazaki, Japan, 18/10/7. https://doi.org/10.1109/SMC.2018.00195

Ogura M, Furukawa JI, Teramae T, Noda T, Okuyama K, Kawakami M et al. Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy. In Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1105-1109. 8616191. (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018). doi: 10.1109/SMC.2018.00195

Ogura, Miho ; Furukawa, Jun Ichiro ; Teramae, Tatsuya et al. / Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy. Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1105-1109 (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018).

@inproceedings{bfb01009cda64b08a4fad2bde329c3a6,

title = "Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy",

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.",

author = "Miho Ogura and Furukawa, {Jun Ichiro} and Tatsuya Teramae and Tomoyuki Noda and Kohei Okuyama and Michiyuki Kawakami and Meigen Liu and Jun Morimoto",

note = "Funding Information: 1The authors are with ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai, Seika-cho, Soraku-gun, Kyoto 619-0288, Japan t noda@atr.jp, 2The authors are with Keio University School of Medicine, Tokyo, Japan. Nao Nakano and Akihide Inano helped with the hardware maintenance in the experimental setup. This research was supported in part by the following: Development of Medical Devices and Systems for Advanced Medical Services from AMED and Development of BMI Technologiesfor Clinical Applications, carried out under SRPBS by the MEXT/AMED, AMED under Grant Number JP17dm0107034 and JP18he0402255, National Institute of Information and Communications Technology(NICT), ImPACT Program of the Council for Science, Technology and Innovation (Cabinet Office, Government of Japan), a project commissioned by NEDO. T. N. was partially supported by JSPS KAKENHI 15H05321. Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 ; Conference date: 07-10-2018 Through 10-10-2018",

year = "2019",

month = jan,

day = "16",

doi = "10.1109/SMC.2018.00195",

language = "English",

series = "Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1105--1109",

booktitle = "Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018",

}

TY - GEN

T1 - Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy

AU - Ogura, Miho

AU - Furukawa, Jun Ichiro

AU - Teramae, Tatsuya

AU - Noda, Tomoyuki

AU - Okuyama, Kohei

AU - Kawakami, Michiyuki

AU - Liu, Meigen

AU - Morimoto, Jun

N1 - Funding Information: 1The authors are with ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai, Seika-cho, Soraku-gun, Kyoto 619-0288, Japan t noda@atr.jp, 2The authors are with Keio University School of Medicine, Tokyo, Japan. Nao Nakano and Akihide Inano helped with the hardware maintenance in the experimental setup. This research was supported in part by the following: Development of Medical Devices and Systems for Advanced Medical Services from AMED and Development of BMI Technologiesfor Clinical Applications, carried out under SRPBS by the MEXT/AMED, AMED under Grant Number JP17dm0107034 and JP18he0402255, National Institute of Information and Communications Technology(NICT), ImPACT Program of the Council for Science, Technology and Innovation (Cabinet Office, Government of Japan), a project commissioned by NEDO. T. N. was partially supported by JSPS KAKENHI 15H05321. Publisher Copyright: © 2018 IEEE.

PY - 2019/1/16

Y1 - 2019/1/16

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85062229023&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85062229023&partnerID=8YFLogxK

U2 - 10.1109/SMC.2018.00195

DO - 10.1109/SMC.2018.00195

M3 - Conference contribution

AN - SCOPUS:85062229023

T3 - Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

SP - 1105

EP - 1109

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

Y2 - 7 October 2018 through 10 October 2018

ER -

Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy

Abstract

Publication series

Conference

ASJC Scopus subject areas

UN SDGs

Access to Document

Other files and links

Fingerprint

Cite this