Cable-Driven Exosuit to Assist Affected Upper-Limb Users with Hemiparesis

Luis J. Arciniegas-Mayag, Adip Ranjan Das, Diego Casas-Bocanegra, Sophia Otalora, Mario F. Jimenez, Marcelo E.V. Segatto, Camilo A.R. Diaz, Marcela Munera, Carlos A. Cifuentes

Producción científica: Capítulo en Libro/InformeContribución a la conferencia

Resumen

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.

Idioma originalInglés estadounidense
Título de la publicación alojada2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
EditorialIEEE Computer Society
Páginas1629-1634
Número de páginas6
ISBN (versión digital)9798350386523
DOI
EstadoPublicada - 2024
Evento10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024 - Heidelberg, Alemania
Duración: sep. 1 2024sep. 4 2024

Serie de la publicación

NombreProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (versión impresa)2155-1774

Conferencia

Conferencia10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
País/TerritorioAlemania
CiudadHeidelberg
Período9/1/249/4/24

Áreas temáticas de ASJC Scopus

  • Inteligencia artificial
  • Ingeniería biomédica
  • Ingeniería mecánica

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