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SMA based elbow exoskeleton for rehabilitation therapy and patient evaluation

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorCopaci, Dorin Sabin
dc.contributor.authorAlonso Martín, Fernando
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.contributor.authorBlanco Rojas, María Dolores
dc.contributor.funderComunidad de Madrides
dc.contributor.funderMinisterio de Economía y Competitividad (España)es
dc.date.accessioned2022-01-27T10:20:53Z
dc.date.available2022-01-27T10:20:53Z
dc.date.issued2019-03-04
dc.description.abstractA large number of musculoskeletal and neurological disorders can affect the upper limb limiting the subject's ability to perform activities of daily living. In recent years, rehabilitation therapies based on robotics have been proposed as complement to the work of therapists. This paper introduces a prototype of exoskeleton for the evaluation and rehabilitation therapy of the elbow joint in flexion extension and pronation-supination. The main novelty is the use of bioinspired actuators based on shape memory alloys (for the first time) in an upper limb rehabilitation exoskeleton. Because of this, the device presents a light weight, less than 1 kg, and noiseless operation, both characteristics are very beneficial for rehabilitation therapies. In addition, the prototype has been designed with low-cost electronics and materials, and the result is a wearable, comfortable, and cheap rehabilitation exoskeleton for the elbow joint. The exoskeleton can generate the joint torque (active mode) or it can be used as a passive tool. (The patient performs therapy by itself, carrying the device while it collects relevant movement data for evaluation.) The simulations and experimental tests validate the solution in the first phases of rehabilitation therapies when slow and repetitive movements are required.en
dc.description.sponsorshipThis work was supported in part by the Exoesqueleto para Diagnostico y Asistencia en Tareas de Manipulacion through the Spanish Research Project under Grant DPI2016-75346-R, and in part by the RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub ("Robotica aplicada a la mejora de la calidad de vida de los ciudadanos. fase IV''), funded by the "Programas de Actividades I+D en la Comunidad de Madrid,'' and co-funded by the Structural Funds of the EU, under Grant S2018/NMT-4331.en
dc.format.extent12
dc.identifier.bibliographicCitationCopaci, D., Martin, F., Moreno, L. & Blanco, D. (2019). SMA Based Elbow Exoskeleton for Rehabilitation Therapy and Patient Evaluation. IEEE Access, 7, 31473–31484.en
dc.identifier.doihttps://doi.org/10.1109/ACCESS.2019.2902939
dc.identifier.issn2169-3536
dc.identifier.publicationfirstpage31473
dc.identifier.publicationlastpage31484
dc.identifier.publicationtitleIEEE Accessen
dc.identifier.publicationvolume7
dc.identifier.urihttps://hdl.handle.net/10016/33978
dc.identifier.uxxiAR/0000023476
dc.language.isoengen
dc.publisherIEEEen
dc.relation.projectIDGobierno de España. DPI2016-75346-Res
dc.relation.projectIDComunidad de Madrid. S2018/NMT-4331es
dc.rights© 2019, IEEE.en
dc.rights.accessRightsopen accessen
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherAntagonist controlen
dc.subject.otherElbow rehabilitationen
dc.subject.otherExoskeletonen
dc.subject.otherShape memory alloy (SMA)en
dc.subject.otherWearable roboticsen
dc.subject.otherDesignen
dc.titleSMA based elbow exoskeleton for rehabilitation therapy and patient evaluationen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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