Exoskeleton robots for upper-limb rehabilitation

Yassine Bouteraa; Ismail Ben Abdallah

doi:10.1109/SSD.2016.7473769

Exoskeleton robots for upper-limb rehabilitation

Yassine Bouteraa
, Ismail Ben Abdallah

University of Sfax

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

19 Scopus citations

Abstract

In this paper, the design of a new upper limb rehabilitation system is presented. The developed system is an exoskeleton with two degrees of freedom that can be used for diagnosis, physical therapy, and outcome evaluation. The system is dedicated to the patients with paraplegia of their upper extremities due to stroke or any disorders of the central or peripheral nervous system. The designed robot-aided therapy actuates both movements: flexion/extension for the elbow and pronation/supination for the forearm. The robotic system used Kinects skeletal tracking for an upper limb rehabilitation. Position control is communicated via a wireless network. Indeed a ZigBee protocol using xbee communication modules has been installed to ensure remote control of rehabilitation exercise. A kinematic model has been developed based on Denavit-Hartenberg approach to make first tests. A sliding mode robust law control has been implemented. The Lyapunov-based approach has been used to establish the system asymptotic stability. Experimental results are provided to demonstrate performances of the developed robot of upper limb remote rehabilitation.

Original language	English
Title of host publication	13th International Multi-Conference on Systems, Signals and Devices, SSD 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509012916
DOIs	https://doi.org/10.1109/SSD.2016.7473769
State	Published - 18 May 2016
Externally published	Yes
Event	13th International Multi-Conference on Systems, Signals and Devices, SSD 2016 - Leipzig, Germany Duration: 21 Mar 2016 → 24 Mar 2016

Publication series

Name	13th International Multi-Conference on Systems, Signals and Devices, SSD 2016

Conference

Conference	13th International Multi-Conference on Systems, Signals and Devices, SSD 2016
Country/Territory	Germany
City	Leipzig
Period	21/03/16 → 24/03/16

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Rehabilitation
Robust control
Upper limb exoskeleton

Access to Document

10.1109/SSD.2016.7473769

Cite this

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title = "Exoskeleton robots for upper-limb rehabilitation",

abstract = "In this paper, the design of a new upper limb rehabilitation system is presented. The developed system is an exoskeleton with two degrees of freedom that can be used for diagnosis, physical therapy, and outcome evaluation. The system is dedicated to the patients with paraplegia of their upper extremities due to stroke or any disorders of the central or peripheral nervous system. The designed robot-aided therapy actuates both movements: flexion/extension for the elbow and pronation/supination for the forearm. The robotic system used Kinects skeletal tracking for an upper limb rehabilitation. Position control is communicated via a wireless network. Indeed a ZigBee protocol using xbee communication modules has been installed to ensure remote control of rehabilitation exercise. A kinematic model has been developed based on Denavit-Hartenberg approach to make first tests. A sliding mode robust law control has been implemented. The Lyapunov-based approach has been used to establish the system asymptotic stability. Experimental results are provided to demonstrate performances of the developed robot of upper limb remote rehabilitation.",

keywords = "Rehabilitation, Robust control, Upper limb exoskeleton",

author = "Yassine Bouteraa and \{Ben Abdallah\}, Ismail",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 13th International Multi-Conference on Systems, Signals and Devices, SSD 2016 ; Conference date: 21-03-2016 Through 24-03-2016",

year = "2016",

month = may,

day = "18",

doi = "10.1109/SSD.2016.7473769",

language = "English",

series = "13th International Multi-Conference on Systems, Signals and Devices, SSD 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Bouteraa, Y & Ben Abdallah, I 2016, Exoskeleton robots for upper-limb rehabilitation. in 13th International Multi-Conference on Systems, Signals and Devices, SSD 2016., 7473769, 13th International Multi-Conference on Systems, Signals and Devices, SSD 2016, Institute of Electrical and Electronics Engineers Inc., 13th International Multi-Conference on Systems, Signals and Devices, SSD 2016, Leipzig, Germany, 21/03/16. https://doi.org/10.1109/SSD.2016.7473769

Exoskeleton robots for upper-limb rehabilitation. / Bouteraa, Yassine; Ben Abdallah, Ismail.
13th International Multi-Conference on Systems, Signals and Devices, SSD 2016. Institute of Electrical and Electronics Engineers Inc., 2016. 7473769 (13th International Multi-Conference on Systems, Signals and Devices, SSD 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Exoskeleton robots for upper-limb rehabilitation

AU - Bouteraa, Yassine

AU - Ben Abdallah, Ismail

PY - 2016/5/18

Y1 - 2016/5/18

N2 - In this paper, the design of a new upper limb rehabilitation system is presented. The developed system is an exoskeleton with two degrees of freedom that can be used for diagnosis, physical therapy, and outcome evaluation. The system is dedicated to the patients with paraplegia of their upper extremities due to stroke or any disorders of the central or peripheral nervous system. The designed robot-aided therapy actuates both movements: flexion/extension for the elbow and pronation/supination for the forearm. The robotic system used Kinects skeletal tracking for an upper limb rehabilitation. Position control is communicated via a wireless network. Indeed a ZigBee protocol using xbee communication modules has been installed to ensure remote control of rehabilitation exercise. A kinematic model has been developed based on Denavit-Hartenberg approach to make first tests. A sliding mode robust law control has been implemented. The Lyapunov-based approach has been used to establish the system asymptotic stability. Experimental results are provided to demonstrate performances of the developed robot of upper limb remote rehabilitation.

AB - In this paper, the design of a new upper limb rehabilitation system is presented. The developed system is an exoskeleton with two degrees of freedom that can be used for diagnosis, physical therapy, and outcome evaluation. The system is dedicated to the patients with paraplegia of their upper extremities due to stroke or any disorders of the central or peripheral nervous system. The designed robot-aided therapy actuates both movements: flexion/extension for the elbow and pronation/supination for the forearm. The robotic system used Kinects skeletal tracking for an upper limb rehabilitation. Position control is communicated via a wireless network. Indeed a ZigBee protocol using xbee communication modules has been installed to ensure remote control of rehabilitation exercise. A kinematic model has been developed based on Denavit-Hartenberg approach to make first tests. A sliding mode robust law control has been implemented. The Lyapunov-based approach has been used to establish the system asymptotic stability. Experimental results are provided to demonstrate performances of the developed robot of upper limb remote rehabilitation.

KW - Rehabilitation

KW - Robust control

KW - Upper limb exoskeleton

UR - https://www.scopus.com/pages/publications/84974593500

U2 - 10.1109/SSD.2016.7473769

DO - 10.1109/SSD.2016.7473769

M3 - Conference contribution

AN - SCOPUS:84974593500

T3 - 13th International Multi-Conference on Systems, Signals and Devices, SSD 2016

BT - 13th International Multi-Conference on Systems, Signals and Devices, SSD 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 13th International Multi-Conference on Systems, Signals and Devices, SSD 2016

Y2 - 21 March 2016 through 24 March 2016

ER -

Exoskeleton robots for upper-limb rehabilitation

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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