Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot

Chengqi Lin; Weifeng Wu; Gengliang Lin; Siqi Cai; Longhan Xie

doi:10.1007/978-3-030-90525-5_52

Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot

Chengqi Lin
, Weifeng Wu
, Gengliang Lin
, Siqi Cai
, Longhan Xie^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Previous studies have shown that patient’s voluntary participation is one of the key factors in improving rehabilitation effects. End-effector and exoskeleton type robots have been developed to support rehabilitation training at different impedance levels. However, these robots either fail to take the movement of the shoulder girdle into account or suffer from complex and massive shoulder mechanisms. In this paper, we merge the advantages of the end-effector and exoskeleton type robots and propose a simple and effective semi-exoskeleton upper limb robot with seven degrees of freedom to support the impedance training of the human shoulder complex and elbow joint. Besides, an admittance control scheme is developed to generate desired movements during training. Experiments on five subjects are conducted to assess the feasibility and performance of the proposed robot. Results show that the proposed robot has satisfactory performance in terms of shoulder kinematic compatibility and human-robot interaction. This study could pave way for a practical rehabilitation robot for patients with stroke in real-life.

Original language	English
Title of host publication	Social Robotics - 13th International Conference, ICSR 2021, Proceedings
Editors	Haizhou Li, Shuzhi Sam Ge, Yan Wu, Agnieszka Wykowska, Hongsheng He, Xiaorui Liu, Dongyu Li, Jairo Perez-Osorio
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	596-605
Number of pages	10
ISBN (Print)	9783030905248
DOIs	https://doi.org/10.1007/978-3-030-90525-5_52
State	Published - 2021
Externally published	Yes
Event	13th International Conference on Social Robotics, ICSR 2021 - Singapore, Singapore Duration: 10 Nov 2021 → 13 Nov 2021

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	13086 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	13th International Conference on Social Robotics, ICSR 2021
Country/Territory	Singapore
City	Singapore
Period	10/11/21 → 13/11/21

Keywords

Admittance control
Rehabilitation
Semi-exoskeleton robot
Upper limb

Access to Document

10.1007/978-3-030-90525-5_52

Cite this

Lin, C., Wu, W., Lin, G., Cai, S., & Xie, L. (2021). Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot. In H. Li, S. S. Ge, Y. Wu, A. Wykowska, H. He, X. Liu, D. Li, & J. Perez-Osorio (Eds.), Social Robotics - 13th International Conference, ICSR 2021, Proceedings (pp. 596-605). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13086 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-90525-5_52

Lin, Chengqi ; Wu, Weifeng ; Lin, Gengliang et al. / Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot. Social Robotics - 13th International Conference, ICSR 2021, Proceedings. editor / Haizhou Li ; Shuzhi Sam Ge ; Yan Wu ; Agnieszka Wykowska ; Hongsheng He ; Xiaorui Liu ; Dongyu Li ; Jairo Perez-Osorio. Springer Science and Business Media Deutschland GmbH, 2021. pp. 596-605 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{de50c42b1a484c5f813459df102641c9,

title = "Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot",

abstract = "Previous studies have shown that patient{\textquoteright}s voluntary participation is one of the key factors in improving rehabilitation effects. End-effector and exoskeleton type robots have been developed to support rehabilitation training at different impedance levels. However, these robots either fail to take the movement of the shoulder girdle into account or suffer from complex and massive shoulder mechanisms. In this paper, we merge the advantages of the end-effector and exoskeleton type robots and propose a simple and effective semi-exoskeleton upper limb robot with seven degrees of freedom to support the impedance training of the human shoulder complex and elbow joint. Besides, an admittance control scheme is developed to generate desired movements during training. Experiments on five subjects are conducted to assess the feasibility and performance of the proposed robot. Results show that the proposed robot has satisfactory performance in terms of shoulder kinematic compatibility and human-robot interaction. This study could pave way for a practical rehabilitation robot for patients with stroke in real-life.",

keywords = "Admittance control, Rehabilitation, Semi-exoskeleton robot, Upper limb",

author = "Chengqi Lin and Weifeng Wu and Gengliang Lin and Siqi Cai and Longhan Xie",

note = "Publisher Copyright: {\textcopyright} 2021, Springer Nature Switzerland AG.; 13th International Conference on Social Robotics, ICSR 2021 ; Conference date: 10-11-2021 Through 13-11-2021",

year = "2021",

doi = "10.1007/978-3-030-90525-5\_52",

language = "英语",

isbn = "9783030905248",

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pages = "596--605",

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Lin, C, Wu, W, Lin, G, Cai, S & Xie, L 2021, Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot. in H Li, SS Ge, Y Wu, A Wykowska, H He, X Liu, D Li & J Perez-Osorio (eds), Social Robotics - 13th International Conference, ICSR 2021, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 13086 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 596-605, 13th International Conference on Social Robotics, ICSR 2021, Singapore, Singapore, 10/11/21. https://doi.org/10.1007/978-3-030-90525-5_52

Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot. / Lin, Chengqi; Wu, Weifeng; Lin, Gengliang et al.
Social Robotics - 13th International Conference, ICSR 2021, Proceedings. ed. / Haizhou Li; Shuzhi Sam Ge; Yan Wu; Agnieszka Wykowska; Hongsheng He; Xiaorui Liu; Dongyu Li; Jairo Perez-Osorio. Springer Science and Business Media Deutschland GmbH, 2021. p. 596-605 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13086 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot

AU - Lin, Chengqi

AU - Wu, Weifeng

AU - Lin, Gengliang

AU - Cai, Siqi

AU - Xie, Longhan

PY - 2021

Y1 - 2021

N2 - Previous studies have shown that patient’s voluntary participation is one of the key factors in improving rehabilitation effects. End-effector and exoskeleton type robots have been developed to support rehabilitation training at different impedance levels. However, these robots either fail to take the movement of the shoulder girdle into account or suffer from complex and massive shoulder mechanisms. In this paper, we merge the advantages of the end-effector and exoskeleton type robots and propose a simple and effective semi-exoskeleton upper limb robot with seven degrees of freedom to support the impedance training of the human shoulder complex and elbow joint. Besides, an admittance control scheme is developed to generate desired movements during training. Experiments on five subjects are conducted to assess the feasibility and performance of the proposed robot. Results show that the proposed robot has satisfactory performance in terms of shoulder kinematic compatibility and human-robot interaction. This study could pave way for a practical rehabilitation robot for patients with stroke in real-life.

AB - Previous studies have shown that patient’s voluntary participation is one of the key factors in improving rehabilitation effects. End-effector and exoskeleton type robots have been developed to support rehabilitation training at different impedance levels. However, these robots either fail to take the movement of the shoulder girdle into account or suffer from complex and massive shoulder mechanisms. In this paper, we merge the advantages of the end-effector and exoskeleton type robots and propose a simple and effective semi-exoskeleton upper limb robot with seven degrees of freedom to support the impedance training of the human shoulder complex and elbow joint. Besides, an admittance control scheme is developed to generate desired movements during training. Experiments on five subjects are conducted to assess the feasibility and performance of the proposed robot. Results show that the proposed robot has satisfactory performance in terms of shoulder kinematic compatibility and human-robot interaction. This study could pave way for a practical rehabilitation robot for patients with stroke in real-life.

KW - Admittance control

KW - Rehabilitation

KW - Semi-exoskeleton robot

KW - Upper limb

UR - https://www.scopus.com/pages/publications/85119865251

U2 - 10.1007/978-3-030-90525-5_52

DO - 10.1007/978-3-030-90525-5_52

M3 - 会议稿件

AN - SCOPUS:85119865251

SN - 9783030905248

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 596

EP - 605

BT - Social Robotics - 13th International Conference, ICSR 2021, Proceedings

A2 - Li, Haizhou

A2 - Ge, Shuzhi Sam

A2 - Wu, Yan

A2 - Wykowska, Agnieszka

A2 - He, Hongsheng

A2 - Liu, Xiaorui

A2 - Li, Dongyu

A2 - Perez-Osorio, Jairo

PB - Springer Science and Business Media Deutschland GmbH

T2 - 13th International Conference on Social Robotics, ICSR 2021

Y2 - 10 November 2021 through 13 November 2021

ER -

Lin C, Wu W, Lin G, Cai S, Xie L. Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot. In Li H, Ge SS, Wu Y, Wykowska A, He H, Liu X, Li D, Perez-Osorio J, editors, Social Robotics - 13th International Conference, ICSR 2021, Proceedings. Springer Science and Business Media Deutschland GmbH. 2021. p. 596-605. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-90525-5_52

Design and Control of a Seven Degrees-of-Freedom Semi-exoskeleton Upper Limb Robot

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Keywords

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