A TECHNOLOGICAL AND STATISTICAL STATE-OF-THE-ART STUDY REGARDING ACTIVE MOTION-ORIENTED ASSISTIVE DEVICES

Daniel Pina, António Augusto Fernandes, Joaquim Gabriel Mendes, Renato Natal Jorge

2012

Abstract

Active orthoses and powered exoskeletons, among other denominations, are devices made to attach to one or several human limbs in order to assist or replace its wearer’s movement through means of electronically controlled actuators and/or mechanical brakes. The technology developed for these devices can be used for rehabilitation, general strength enhancement for industrial or military purposes, among other situations. In order to create a comprehensive state-of-the-art work for this class of devices, several online scientific databases were used to gather articles related to this subject. Afterwards, a custom database was created to contain, organize and cross the information gathered from each relevant article. This work presents statistical results regarding the actuation technologies, the man-machine interface sensors and the corresponding interpretation algorithms. There is also a brief study about the localization of the scientific research, according to the targeted body part of the active device. The results show that the DC Motor is, by a wide margin, the most used actuator technology. This margin is reduced when wearable devices with weight constraints are developed. The electromyographic sensors are the most widely used sensors, but when these are grouped into physical variable classes, the force-related sensors show a higher number of occurrences. Regarding the processing algorithms required for the man-machine interface, it is often required to develop a custom algorithm for these devices.

References

  1. Andreasen, D. S., Allen, S. K., and Backus, D. A. (2005). Exoskeleton with emg based active assistance for rehabilitation. In IEEE International Conference on Rehabilitation Robotics.
  2. Banala, S. K., Kulpe, A., and Agrawal, S. K. (2007). A powered leg orthosis for gait rehabilitation of motorimpaired patients (alex). In IEEE International Conference on Robotics and Automation.
  3. Boehler, A. W., Hollander, K. W., Sugar, T. G., and Shin, D. (2008). Design, implementation and test results of a robust control method for a powered ankle foot orthosis (afo). In IEEE International Conference on Robotics and Automation.
  4. Cao, H., Ling, Z., Zhu, J., Wang, Y., and Wang, W. (2009a). Design frame of a leg exoskeleton for load-carrying augmentation. In EEE International Conference on Robotics and Biomimetics.
  5. Cao, H., Ling, Z., Zhu, J., Wang, Y., and Wang, W. (2009b). sign frame of a leg exoskeleton for load-carrying augmentation. In IEEE International Conference on Robotics and Biomimetics.
  6. Carignan, C., Liszka, M., and Roderick, S. N. (2005). Design of an arm exoskeleton with scapula motion for shoulder rehabilitation. In International Conference on Advanced Robotics.
  7. Carignan, C., Naylor, M. P., and Roderick, S. N. (2008). Controlling shoulder impedance in a rehabilitation arm exoskeleton. In IEEE International Conference on Robotics and Automation.
  8. Costa, N. and Caldwell, D. G. (2006). Control of a biomimetic ”soft-actuated” 10dof lower body exoskeleton. In International Conference on Biomedical Robotics and Biomechatronics (BioRob).
  9. Daerden, F. (1999). Conception and Realization of Pleated Pneumatic Artificial Muscles and their Use as Compliant Actuation Elements. PhD thesis, Vrije Universiteit Brussel.
  10. Herder, J. L. (2005). Development of a statically balanced arm support: Armon. In IEEE International Conference on Rehabilitation Robotics.
  11. Jia-fan, Z., Yi-ming, D., Can-jun, Y., Yu, G., Ying, C., and Yin, Y. (2010). 5-link model based gait trajectory adaption control strategies of the gait rehabilitation exoskeleton for post-stroke patients. Mechatronics, 20, Issue 3.
  12. Kazerooni, H. and Steger, R. (2006). The berkeley lower extremity exoskeleton. Transactions of the ASME, 128.
  13. Kong, K., Moon, H., Hwang, B., Jeon, D., and Tomizuka, M. (2009). Impedance compensation of subar for back-drivable force-mode actuation. IEEE Transactions on Robotics, 25:Issue 3.
  14. Low, K. H., Liu, X., and Yu, H. (2005). Development of ntu wearable exoskeleton system for assistive technologies. In International Conference on Mechatronics and Automation.
  15. Motorcontrol (2011). List of companies providing dc motor drives - www.motorcontrol.com/2007homepagelinks/dccomp anies.htm.
  16. Plettenburg, D. H. (2005). Pneumatic actuators, a comparison of energy-to-mass ratios. In Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics.
  17. Rahman, M. H., Saad, M., e, J. P. K., and Archambault, P. S. (2010). Exoskeleton robot for rehabilitation of elbow and forearm movements. In Mediterranean Conference on Control & Automation, Volume 18.
  18. Raparelli, T., Zobel, P. B., Durante, F., Antonelli, M., Raimondi, P., and Costanzo, G. (2007). First clinical investigation on a pneumatic lumbar unloading orthosis. In International Conference on Complex Medical Engineering IEEE/ICME.
  19. Sankai, Y. (2006). Leading edge of cybernics: Robot suit hal. In SICE-ICASE International Joint Conference.
  20. Shibata, Y., Imai, S., Nobutomo, T., Miyoshi, T., and ichiroh Yamamoto, S. (2010). Development of body weight support gait training system using antagonistic bi-articular muscle model. In Annual International Conference of the IEEE EMBS, Volume 32.
  21. Vanderniepen, I., Ham, R. V., Damme, M. V., and Lefeber, D. (2008). Design of a powered elbow orthosis for orthopaedic rehabilitation using compliant actuation. In International Conference on Biomedical Robotics and Biomechatronics (BioRob).
  22. Wege, A. and Hommel, G. (2006). Development and control of a hand exoskeleton for rehabilitation of hand injuries. In Human Interaction with Machines.
  23. Wege, A. and Zimmermann, A. (2007). Electromyography sensor based control for a hand exoskeleton. In Electromyography Sensor Based Control for a Hand Exoskeleton.
  24. Worsnopp, T. T., Peshkin, M. . A., Colgate, J. E., and Kamper, D. G. (2007). An actuated finger exoskeleton for hand rehabilitation following stroke. In IEEE International Conference on Rehabilitation Robotics.
  25. Yasuhisa Hasegawa, Kosuke Watanabe, Y. S. (2010). Performance evaluations of hand and forearm support system. In Conference on Intelligent Robots and Systems, IEEE/RSJ International.
  26. Yuanjie Fan, Y. Y. (2009). Mechanism design and motion control of a parallel ankle joint for rehabilitation robotic exoskeleton. In IEEE International Conference on Robotics and Biomimetics.
Download


Paper Citation


in Harvard Style

Pina D., Augusto Fernandes A., Gabriel Mendes J. and Natal Jorge R. (2012). A TECHNOLOGICAL AND STATISTICAL STATE-OF-THE-ART STUDY REGARDING ACTIVE MOTION-ORIENTED ASSISTIVE DEVICES . In Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2012) ISBN 978-989-8425-91-1, pages 245-250. DOI: 10.5220/0003795702450250


in Bibtex Style

@conference{biodevices12,
author={Daniel Pina and António Augusto Fernandes and Joaquim Gabriel Mendes and Renato Natal Jorge},
title={A TECHNOLOGICAL AND STATISTICAL STATE-OF-THE-ART STUDY REGARDING ACTIVE MOTION-ORIENTED ASSISTIVE DEVICES},
booktitle={Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2012)},
year={2012},
pages={245-250},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003795702450250},
isbn={978-989-8425-91-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2012)
TI - A TECHNOLOGICAL AND STATISTICAL STATE-OF-THE-ART STUDY REGARDING ACTIVE MOTION-ORIENTED ASSISTIVE DEVICES
SN - 978-989-8425-91-1
AU - Pina D.
AU - Augusto Fernandes A.
AU - Gabriel Mendes J.
AU - Natal Jorge R.
PY - 2012
SP - 245
EP - 250
DO - 10.5220/0003795702450250