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Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
Published on: May 20, 2020
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Development of a powered variable-stiffness exoskeleton device for elbow rehabilitation
Yi Liu1, Shuxiang Guo2,3, Hideyuki Hirata4
1Graduate School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, 761-0396, Japan. s18d504@stu.kagawa-u.ac.jp.
Biomedical Microdevices
|August 4, 2018
Summary
This study introduces a new portable exoskeleton for stroke rehabilitation, offering adjustable elbow joint stiffness for personalized motor recovery. The device supports natural movement and variable power assistance, enhancing home-based therapy effectiveness.
Area of Science:
- Robotics
- Rehabilitation Engineering
- Biomechanics
Background:
- Robot-assisted movement training with exoskeletons aids motor function recovery in post-stroke patients.
- Current wearable exoskeletons require portability and natural joint range of motion for home-based rehabilitation.
- Adjustable actuated joint stiffness is crucial for tailoring upper limb rehabilitation to individual impairment levels.
Purpose of the Study:
- To present a novel, portable exoskeleton device with adjustable elbow joint stiffness for rehabilitation.
- To enable natural joint range of motion and intra-subject variability through passive degrees of freedom.
- To evaluate the device's functionality in providing variable power assistance.
Main Methods:
- Development of a portable exoskeleton with five passive degrees of freedom.
- Integration of a variable stiffness actuator (VSA) for independent joint stiffness adjustment.
- Testing an elbow power-assist trial on a healthy subject with varying actuated joint stiffnesses.
Main Results:
- The proposed exoskeleton demonstrated functionality in providing adjustable actuated joint stiffness.
- Variable power assistance was successfully delivered to the wearer's elbow movements by regulating joint stiffness.
- The device accommodates natural joint range of motion and intra-subject variability.
Conclusions:
- The novel portable exoskeleton offers adjustable stiffness for personalized elbow rehabilitation.
- The device is suitable for home-based rehabilitation, supporting natural movement and variable assistance.
- This technology has the potential to improve motor function recovery for post-stroke patients.
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