0

Full Content is available to subscribers

Subscribe/Learn More  >

Real-Time Estimation of Glenohumeral Joint Rotation Center With CAREX: A Cable-Based Arm Exoskeleton

[+] Author Affiliations
Ying Mao, Xin Jin, Sunil K. Agrawal

University of Delaware, Newark, DE

Paper No. DETC2012-71083, pp. 125-132; 8 pages
doi:10.1115/DETC2012-71083
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

In the past few years, the authors have proposed several prototypes of a Cable-driven upper ARm EXoskeleton (CAREX) for arm rehabilitation. The key advantages of CAREX over conventional exoskeletons are: (i) It is nearly an order of magnitude lighter. (ii) It does not have conventional links and joints, hence does not require joint axes alignment and segment lengths adjustment. (iii) It does not limit the natural degrees-of-freedom of the upper limb. (iv) The structure of the exoskeleton is novel as the cables are routed from the proximal to the distal segments of the arm. Preliminary experimental results with CAREX on a robotic arm and on healthy subjects have demonstrated the effectiveness of the exoskeleton within “assist-as-needed” training paradigm. In this paper, we propose a novel approach to estimate the glenohumeral joint rotation center (GH-c) using measurements of shoulder joint angles and cable lengths. This helps in locating the glenohumeral joint rotation center appropriately within the kinematic model. As a result, more accurate kinematic model can be used to improve the training of human users. An estimation algorithm is presented to compute the GH-c in real-time. The algorithm was implemented on the latest prototype of CAREX which controls four degrees-of-freedom of the shoulder and elbow. Preliminary experiments were performed on two healthy subjects under two different scenarios: (i) GH-c was assumed to be a fixed point and (ii) GH-c was estimated using the proposed algorithm. Experimental results are presented to compare the two scenarios.

Copyright © 2012 by ASME
Topics: Rotation , Cables

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In