Title :
Analysis of elbow-joints misalignment in upper-limb exoskeleton
Author :
Malosio, Matteo ; Pedrocchi, Nicola ; Vicentini, Federico ; Tosatti, Lorenzo Molinari
Author_Institution :
Inst. of Ind. Technol. & Autom., Italian Nat. Council of Res., Milan, Italy
fDate :
June 29 2011-July 1 2011
Abstract :
This paper presents advantages of introducing elbow-joints misalignments in an exoskeleton for upper limb rehabilitation. Typical exoskeletons are characterized by axes of the device as much as possible aligned to the rotational axes of human articulations. This approach leads to advantages in terms of movements and torques decoupling, but can lead to limitations nearby the elbow singular configuration. A proper elbow axes misalignment between the exoskeleton and the human can improve the quality of collaborative rehabilitation therapies, in which a correct torque transmission from human articulations to mechanical joints of the device is required to react to torques generated by the patient.
Keywords :
biomechanics; bone; human-robot interaction; medical robotics; patient rehabilitation; torque; elbow singular configuration; elbow-joints misalignment; human articulations; mechanical joints; rehabilitation; rotational axes; torque decoupling; upper-limb exoskeleton; Elbow; Exoskeletons; Humans; Joints; Kinematics; Shoulder; Torque; Exoskeleton; elbow singularity-free; human-robot axes misalignments; robot-assisted rehabilitation; Arm; Biomechanics; Elbow Joint; Humans; Models, Theoretical; Robotics; Shoulder;
Conference_Titel :
Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-9863-5
Electronic_ISBN :
1945-7898
DOI :
10.1109/ICORR.2011.5975393