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

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

Description

Title: Wearable soft robotic device for post-stroke shoulder rehabilitation: identifying misalignments
Author/s:
  • Galiana Bujanda, Ignacio
  • Hammond, Frank L.
  • Howe, Robert D.
  • Popovic, Marko B.
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Dates: 07/10/2012 - 12/10/2012
Event Location: Vilamoura, Portugal
Title of Book: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Date: 2012
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (2MB)

Abstract

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.

More information

Item ID: 20768
DC Identifier: http://oa.upm.es/20768/
OAI Identifier: oai:oa.upm.es:20768
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6385786&tag=1
Deposited by: Memoria Investigacion
Deposited on: 01 Mar 2014 12:50
Last Modified: 22 Sep 2014 11:21
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM