Study of a Hybrid Actuated Exoskeleton for Upper Limb Rehabilitation

Dimitar Chakarov, Ivanka Veneva, Mihail Tsveov, Pavel Venev

2020

Abstract

In this paper, an upper arm rehabilitation exoskeleton is studied. An appropriate solution is sought for the exoskeleton design and actuation that provides transparency and natural safety as well as sufficient force and performance. To achieve this, a hybrid actuation with back-drivable electric and pneumatic drives is studied. A hybrid actuation controller is introduced, in which pneumatic drive takes care of the initial force response, and the electric drive complements the pneumatic drive. In the paper, the feasibility of the basic therapy modes "patient in charge" and "robot in charge" is simulated. An approach for dynamic estimation of elastic propulsion in the second joint through imposed motions is used. The influences of the inertial, frictional, gravitational, and elastic forces that resulted from the hand and the exoskeleton impedance are reported. The pneumatic drive's influence as an elastic balance of the gravitational forces is considered. Finally, a conclusion and discussion are added.

Paper Citation

in Harvard Style

Chakarov D., Veneva I., Tsveov M. and Venev P. (2020). Study of a Hybrid Actuated Exoskeleton for Upper Limb Rehabilitation.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 498-505. DOI: 10.5220/0009884504980505

in Bibtex Style

@conference{icinco20,
author={Dimitar Chakarov and Ivanka Veneva and Mihail Tsveov and Pavel Venev},
title={Study of a Hybrid Actuated Exoskeleton for Upper Limb Rehabilitation},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={498-505},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009884504980505},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Study of a Hybrid Actuated Exoskeleton for Upper Limb Rehabilitation
SN - 978-989-758-442-8
AU - Chakarov D.
AU - Veneva I.
AU - Tsveov M.
AU - Venev P.
PY - 2020
SP - 498
EP - 505
DO - 10.5220/0009884504980505