A Method for measuring the upper limb motion and computing a compatible exoskeleton trajectory

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 3461-3466

  Jarrasse, N ^a   Crocher, V ^a   Morel, G ^a  

^a SORBONNE UNIVERSITÉ   (France)

Author keywords

[No Author keywords available]

Indexed keywords

3D MOTION; COMPUTING METHODS; HUMAN KINEMATICS; HUMAN POSTURES; JOINT MOTION; JOINT TRAJECTORIES; MECHANICAL DESIGN; NUMEROUS MODELS; PASSIVE MECHANISM; UPPER LIMB MOTION; UPPER LIMBS;

INTELLIGENT SYSTEMS; KINEMATICS; ROBOTICS;

TRAJECTORIES;

EID: 84872340226     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6386159     Document Type: Conference Paper

References (16)

1. A.B. Zoss, H. Kazerooni, and A. Chu. Biomechanical design of the berkeley lower extremity exoskeleton (bleex). Mechatronics, IEEE/ASME Transactions on, 11(2):128-138, april 2006.
2. J.C. Perry, J. Rosen, and S. Burns. Exoskeletons for gait assistance and training of the motor-impaired. Mechatronics, IEEE/ASME Transactions on, Aug 2007.
3. A. Frisoli, F. Rocchi, S. Marcheschi, A. Dettori, F. Salsedo, and M. Bergamasco. A new Force-Feedback arm exoskeleton for haptic interaction in virtual environments. In Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 195-201. IEEE Computer Society, 2005.
4. H. Vallery, E.H.F. van Asseldonk, M. Buss, and H. van der Kooij. Reference trajectory generation for rehabilitation robots: Complementary limb motion estimation. Neural Systems and Rehabilitation Engineering, IEEE Transactions on, 17(1):23-30, feb. 2009.
5. Alberto Montagner, Antonio Frisoli, Luigi Borelli, Caterina Procopio, Massimo Bergamasco, Maria C. Carboncini, and Bruno Rossi. A pilot clinical study on robotic assisted rehabilitation in VR with an arm exoskeleton device. In Virtual Rehabilitation, 2007, pages 57-64, 2007.
6. Matja Mihelj, [1], Tobias [1] Nef, and Robert [1] Riener. A novel paradigm for patient-cooperative control of upper-limb rehabilitation robots. Advanced Robotics, 21:843-867, August 2007.
7. G. Wu, F. C. van der Helm, H. E. Veeger, M. Makhsous, P. Van Roy, C. Anglin, J. Nagels, A. R. Karduna, K. McQuade, X. Wang, F. W. Werner, and B. Buchholz. Isb recommendation on definitions of joint coordinate systems of various joints for the reporting of human joint motion-part ii: shoulder, elbow, wrist and hand. Journal of Biomechanics, 35:543-548, May 2005.
8. E V Biryukova, A Roby-Brami, A A Frolov, and M Mokhtari. Kinematics of human arm reconstructed from spatial tracking system recordings. Journal of Biomechanics, 33(8):985-995, August 2000. PMID: 10828329.
9. J Leboucher, M Lempereur, S Brochard, and O Remy-Neris. Evaluation of joint coherence using fusionned data: Application to the gleno-humeral joint. In XXII Congress of the International Society of Biomechanics, 2009.
10. S. J. Ball. Novel robotic mechanisms for upper-limb rehabilitation and assessment. PhD thesis, 2008.
11. R. Vertechy, A. Frisoli, A. Dettori, M. Solazzi, and M. Bergamasco. Development of a new exoskeleton for upper limb rehabilitation. pages 188 -193, jun. 2009.
12. A.H.A Stienen, E.E.G. Hekman, F.C.T. van der Helm, and H. van der Kooij. Self-aligning exoskeleton axes through decoupling of joint rotations and translations. In Robotics, IEEE Transactions on, volume 25, June 2009.
13. N. Jarrasse and G. Morel. On the kinematic design of exoskeletons and their fixations with a human member. In Proceedings of Robotics: Science and Systems, Zaragoza, Spain, June 2010.
14. Fayet M. Mecanismes multi-boucles. Mechanism and Machine Theory, 30(2):201-252, 1995.
15. P. Garrec, J.P. Friconneau, Y. Measson, and Y. Perrot. Able, an innovative transparent exoskeleton for the upper-limb. Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, pages 1483-1488, Sept. 2008.
16. Garrec. P. French patent: Transmission vis, ecrou et cable attache a la vis - fr0101630, 2000 (eur 01938347.0-2421 and us 10/296,740 (screw and nut transmission and cable). 2000.