ICRA 2011 Paper Abstract


Paper WeP208.3

Mao, Ying (University of Delaware), Agrawal, Sunil (University of Delaware)

A Cable Driven Upper Arm Exoskeleton for Upper Extremity Rehabilitation of Stroke Patients

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics IV" (WeP208), Wednesday, May 11, 2011, 15:55−16:10, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Rehabilitation Robotics, Force Control


Conventional robotic rehabilitation devices for upper extremity are bulky, heavy or lack the ability to provide joint level rehabilitation. Some designs address these issues by replacing rigid links of the exoskeletons with light weight cables. However these designs are controlled in position mode instead of force control which is desirable for rehabilitation. In this paper, a 5 degree-of-freedom cable-driven upper arm exoskeleton, with control of force, is proposed. In this design, attachment points of cables on the arm are adjustable. The attachment points are optimized to achieve large workspace to perform activities of daily living. Simulation results of force field control for training and rehabilitation of the arm are presented. Experiments have been performed on a dummy robotic arm in the upper arm exoskeleton.



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