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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1105-1109
ページ数5
ISBN(電子版)9781538666500
DOI
出版ステータスPublished - 2019 1 16
イベント2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 - Miyazaki, Japan
継続期間: 2018 10 72018 10 10

出版物シリーズ

名前Proceedings - 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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