Structural synthesis of the upper limb modular wearable exercisers

Author

Noveanu, Simona ; Chetran, Beniamin ; Tatar, Olimpiu ; Raducanu, Gelu ; Mandru, Dan

Author_Institution

Dept. of Mechatron. & Machine Dynamics, Tehnical Univ. of Cluj-Napoca, Cluj-Napoca, Romania

fYear

2013

fDate

11-13 Oct. 2013

Firstpage

693

Lastpage

698

Abstract

A new and high-efficient rehabilitation technology is now available through robotics, especially wearable exoskeletons robotic systems. After an analysis of representative rehabilitation exercisers, the upper limb structure is presented as well as its models. Based on anatomical and biomechanical considerations, the structural synthesis of the mechanisms for upper limb wearable exercisers is given and initial design of a family of such exercisers is emphasized. For active motions with controlled resistive torque, a brake based on electrorheological fluid is described.

Keywords

brakes; electrorheology; medical robotics; patient rehabilitation; torque control; wearable computers; brake; electrorheological fluid; rehabilitation technology; representative rehabilitation exerciser analysis; resistive torque control; structural synthesis; upper limb modular wearable exerciser; upper limb structure; wearable exoskeleton robotic system; Elbow; Exoskeletons; Fluids; Joints; Robots; Torque; Wrist; electrorheologic; electrorheological fluid brake; exerciser; exoskeleton; rehabilitation;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, Control and Computing (ICSTCC), 2013 17th International Conference

Conference_Location

Sinaia

Print_ISBN

978-1-4799-2227-7

Type

conf

DOI

10.1109/ICSTCC.2013.6689041

Filename

6689041