Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Wearable Soft Robotic Device for Post-Stroke Shoulder Rehabilitation: Identifying Misalignments
Year:2012
Research Areas
  • Biomedicine,
  • Engineering
Information
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.
International
Si
Congress
IEEE/RSJ International Conference on Intelligent Robots and Systems
960
Place
Vilamoura, Portugal
Reviewers
Si
ISBN/ISSN
2153-0858
Start Date
07/10/2012
End Date
12/10/2012
From page
1
To page
6
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
Participants
  • Autor: Ignacio Galiana Bujanda (UPM)
  • Autor: Frank L. Hammond iii (Harvard School of Engineering and Applied Sciences)
  • Autor: Robert D. Howe (Harvard School of Engineering and Applied Sciences)
  • Autor: Marko B. Popovic (Worcester Polytechnic Institute)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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