Design and kinematic analysis of a novel upper limb exoskeleton for rehabilitation of stroke patients

Amin Zeiaee, Rana Soltani-Zarrin, Reza Langari, Reza Tafreshi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This paper details the design process and features of a novel upper limb rehabilitation exoskeleton named CLEVER (Compact, Low-weight, Ergonomic, Virtual/Augmented Reality Enhanced Rehabilitation) ARM. The research effort is focused on designing a lightweight and ergonomic upper-limb rehabilitation exoskeleton capable of producing diverse and perceptually rich training scenarios. To this end, the knowledge available in the literature of rehabilitation robotics is used along with formal conceptual design techniques. This paper briefly reviews the systematic approach used for design of the exoskeleton, and elaborates on the specific details of the proposed design concept and its advantages over other design possibilities. The kinematic structure of CLEVER ARM has eight degrees of freedom supporting the motion of shoulder girdle, glenohumeral joint, elbow and wrist. Six degrees of freedom of the exoskeleton are active, and the two degrees of freedom supporting the wrist motion are passive. Kinematics of the proposed design is studied analytically and experimentally with the aid of a 3D printed prototype. The paper is concluded by some remarks on the optimization of the design, motorization of device, and the fabrication challenges.

Original languageEnglish
Title of host publication2017 International Conference on Rehabilitation Robotics, ICORR 2017
PublisherIEEE Computer Society
Pages759-764
Number of pages6
ISBN (Electronic)9781538622964
DOIs
Publication statusPublished - 11 Aug 2017
Event2017 International Conference on Rehabilitation Robotics, ICORR 2017 - London, United Kingdom
Duration: 17 Jul 201720 Jul 2017

Other

Other2017 International Conference on Rehabilitation Robotics, ICORR 2017
CountryUnited Kingdom
CityLondon
Period17/7/1720/7/17

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Rehabilitation

Cite this

Zeiaee, A., Soltani-Zarrin, R., Langari, R., & Tafreshi, R. (2017). Design and kinematic analysis of a novel upper limb exoskeleton for rehabilitation of stroke patients. In 2017 International Conference on Rehabilitation Robotics, ICORR 2017 (pp. 759-764). [8009339] IEEE Computer Society. https://doi.org/10.1109/ICORR.2017.8009339