TY - GEN
T1 - Cable-Driven Exosuit to Assist Affected Upper-Limb Users with Hemiparesis
AU - Arciniegas-Mayag, Luis J.
AU - Das, Adip Ranjan
AU - Casas-Bocanegra, Diego
AU - Otalora, Sophia
AU - Jimenez, Mario F.
AU - Segatto, Marcelo E.V.
AU - Diaz, Camilo A.R.
AU - Munera, Marcela
AU - Cifuentes, Carlos A.
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Neurological impairments such as stroke cause muscular weakness in several joints in the human body. As a result, the development of activities of daily living (ADL) is affected. Particularly, upper limb movements executed with external loads are restricted for post-stroke patients who present extreme sensitivity to mechanical loading. In rehabilitation, upper limb gravity support and assistive torques improve post-stroke users' skills and support the elbow joint's flexors muscle during the therapy. In this sense, this work presents the design and a preliminary assessment for a portable upper limb exosuit to assist flexor muscles in the elbow joint. The robotic device comprises a wearable structure employing a cable-driven system that does not generate limitations in the elbow joint. An impedance controller was implemented based on the right elbow joint movements to generate estimated torques applied in the left elbow joint. The experimental findings with three healthy participants showcase the short-term effects of a notable reduction in muscle activity, ranging from 60% to 72%, when the exosuit was tested in lifting a 2.5 Kg load.
AB - Neurological impairments such as stroke cause muscular weakness in several joints in the human body. As a result, the development of activities of daily living (ADL) is affected. Particularly, upper limb movements executed with external loads are restricted for post-stroke patients who present extreme sensitivity to mechanical loading. In rehabilitation, upper limb gravity support and assistive torques improve post-stroke users' skills and support the elbow joint's flexors muscle during the therapy. In this sense, this work presents the design and a preliminary assessment for a portable upper limb exosuit to assist flexor muscles in the elbow joint. The robotic device comprises a wearable structure employing a cable-driven system that does not generate limitations in the elbow joint. An impedance controller was implemented based on the right elbow joint movements to generate estimated torques applied in the left elbow joint. The experimental findings with three healthy participants showcase the short-term effects of a notable reduction in muscle activity, ranging from 60% to 72%, when the exosuit was tested in lifting a 2.5 Kg load.
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U2 - 10.1109/BioRob60516.2024.10719697
DO - 10.1109/BioRob60516.2024.10719697
M3 - Conference contribution
AN - SCOPUS:85208608081
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1629
EP - 1634
BT - 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
PB - IEEE Computer Society
T2 - 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
Y2 - 1 September 2024 through 4 September 2024
ER -