Wearable soft robotic device for post-stroke shoulder rehabilitation: identifying misalignments

Galiana Bujanda, Ignacio; Hammond, Frank L.; Howe, Robert D. y Popovic, Marko B. (2012). Wearable soft robotic device for post-stroke shoulder rehabilitation: identifying misalignments. En: "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", 07/10/2012 - 12/10/2012, Vilamoura, Portugal. pp. 1-6.

Descripción

Título: Wearable soft robotic device for post-stroke shoulder rehabilitation: identifying misalignments
Autor/es:
  • Galiana Bujanda, Ignacio
  • Hammond, Frank L.
  • Howe, Robert D.
  • Popovic, Marko B.
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Fechas del Evento: 07/10/2012 - 12/10/2012
Lugar del Evento: Vilamoura, Portugal
Título del Libro: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Fecha: 2012
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

Stroke is the leading cause of long-term disability in the United States, affecting over 795,000 people annually. In order to regain motor function of the upper body, patients are usually treated by regular sessions with a dedicated physical therapist. A cost-effective wearable upper body orthotics system that can be used at home to empower both the patients and physical therapists is described. The system is composed of a thin, compliant, lightweight, cost-effective soft orthotic device with an integrated cable actuation system that is worn over the upper body, an embedded limb position sensing system, an electric actuator package and controller. The proposed device is robust to misalignments that may occur during actuation of the compliant brace or when putting on the system. Through simulations and experimental evaluation, it was demonstrated i) that the soft orthotic cable-driven shoulder brace can be successfully actuated without the production of off-axis torques in the presence of misalignments and ii) that the proposed model can identify linear and angular misalignments online.

Más información

ID de Registro: 20768
Identificador DC: http://oa.upm.es/20768/
Identificador OAI: oai:oa.upm.es:20768
URL Oficial: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6385786&tag=1
Depositado por: Memoria Investigacion
Depositado el: 01 Mar 2014 12:50
Ultima Modificación: 22 Sep 2014 11:21
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