Development of upper-limb exoskeleton simulator for passive rehabilitation

Jian Bin Huang; Jing Chen Hong; Kuu-Young Young; Chun Hsu Ko

doi:10.1109/CACS.2014.7097212

Development of upper-limb exoskeleton simulator for passive rehabilitation

Jian Bin Huang, Jing Chen Hong, Kuu-Young Young, Chun Hsu Ko

Department of Electrical and Computer Engineering

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

3 Scopus citations

Abstract

Due to the progress in robotics, exoskeleton has been applied in rehabilitation for those enduring damage in central nervous system, spinal cord, and others. In this kind if application, the main concern is the safety of the user, as he/she is closely connected to the exoskeleton. That means the developed exoskeleton needs be carefully evaluated in each aspect of the design. For this purpose, we develop a simulator for general types of upper-limb exoskeletons. To make it realistic, this simulator considers kinematics, dynamics, path planning, control, and also human factor. For demonstration, we apply it to our developed upper-limb exoskeleton, HAMEXO-I, which is designed for passive rehabilitation.

Original language	English
Title of host publication	CACS 2014 - 2014 International Automatic Control Conference, Conference Digest
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	335-339
Number of pages	5
ISBN (Electronic)	9781479945849
DOIs	https://doi.org/10.1109/CACS.2014.7097212
State	Published - 28 Apr 2014
Event	2014 International Automatic Control Conference, CACS 2014 - Kaohsiung, Taiwan Duration: 26 Nov 2014 → 28 Nov 2014

Publication series

Name	CACS 2014 - 2014 International Automatic Control Conference, Conference Digest

Conference

Conference	2014 International Automatic Control Conference, CACS 2014
Country/Territory	Taiwan
City	Kaohsiung
Period	26/11/14 → 28/11/14

Keywords

Exoskeleton
Human Factor
Rehabilitation
Simulator

Access to Document

10.1109/CACS.2014.7097212

Cite this

Huang, J. B., Hong, J. C., Young, K.-Y., & Ko, C. H. (2014). Development of upper-limb exoskeleton simulator for passive rehabilitation. In CACS 2014 - 2014 International Automatic Control Conference, Conference Digest (pp. 335-339). Article 7097212 (CACS 2014 - 2014 International Automatic Control Conference, Conference Digest). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2014.7097212

Huang, Jian Bin ; Hong, Jing Chen ; Young, Kuu-Young et al. / Development of upper-limb exoskeleton simulator for passive rehabilitation. CACS 2014 - 2014 International Automatic Control Conference, Conference Digest. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 335-339 (CACS 2014 - 2014 International Automatic Control Conference, Conference Digest).

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title = "Development of upper-limb exoskeleton simulator for passive rehabilitation",

abstract = "Due to the progress in robotics, exoskeleton has been applied in rehabilitation for those enduring damage in central nervous system, spinal cord, and others. In this kind if application, the main concern is the safety of the user, as he/she is closely connected to the exoskeleton. That means the developed exoskeleton needs be carefully evaluated in each aspect of the design. For this purpose, we develop a simulator for general types of upper-limb exoskeletons. To make it realistic, this simulator considers kinematics, dynamics, path planning, control, and also human factor. For demonstration, we apply it to our developed upper-limb exoskeleton, HAMEXO-I, which is designed for passive rehabilitation.",

keywords = "Exoskeleton, Human Factor, Rehabilitation, Simulator",

author = "Huang, {Jian Bin} and Hong, {Jing Chen} and Kuu-Young Young and Ko, {Chun Hsu}",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 International Automatic Control Conference, CACS 2014 ; Conference date: 26-11-2014 Through 28-11-2014",

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Huang, JB, Hong, JC, Young, K-Y & Ko, CH 2014, Development of upper-limb exoskeleton simulator for passive rehabilitation. in CACS 2014 - 2014 International Automatic Control Conference, Conference Digest., 7097212, CACS 2014 - 2014 International Automatic Control Conference, Conference Digest, Institute of Electrical and Electronics Engineers Inc., pp. 335-339, 2014 International Automatic Control Conference, CACS 2014, Kaohsiung, Taiwan, 26/11/14. https://doi.org/10.1109/CACS.2014.7097212

Development of upper-limb exoskeleton simulator for passive rehabilitation. / Huang, Jian Bin; Hong, Jing Chen; Young, Kuu-Young et al.
CACS 2014 - 2014 International Automatic Control Conference, Conference Digest. Institute of Electrical and Electronics Engineers Inc., 2014. p. 335-339 7097212 (CACS 2014 - 2014 International Automatic Control Conference, Conference Digest).

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

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AU - Hong, Jing Chen

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N2 - Due to the progress in robotics, exoskeleton has been applied in rehabilitation for those enduring damage in central nervous system, spinal cord, and others. In this kind if application, the main concern is the safety of the user, as he/she is closely connected to the exoskeleton. That means the developed exoskeleton needs be carefully evaluated in each aspect of the design. For this purpose, we develop a simulator for general types of upper-limb exoskeletons. To make it realistic, this simulator considers kinematics, dynamics, path planning, control, and also human factor. For demonstration, we apply it to our developed upper-limb exoskeleton, HAMEXO-I, which is designed for passive rehabilitation.

AB - Due to the progress in robotics, exoskeleton has been applied in rehabilitation for those enduring damage in central nervous system, spinal cord, and others. In this kind if application, the main concern is the safety of the user, as he/she is closely connected to the exoskeleton. That means the developed exoskeleton needs be carefully evaluated in each aspect of the design. For this purpose, we develop a simulator for general types of upper-limb exoskeletons. To make it realistic, this simulator considers kinematics, dynamics, path planning, control, and also human factor. For demonstration, we apply it to our developed upper-limb exoskeleton, HAMEXO-I, which is designed for passive rehabilitation.

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KW - Human Factor

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KW - Simulator

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Huang JB, Hong JC, Young KY, Ko CH. Development of upper-limb exoskeleton simulator for passive rehabilitation. In CACS 2014 - 2014 International Automatic Control Conference, Conference Digest. Institute of Electrical and Electronics Engineers Inc. 2014. p. 335-339. 7097212. (CACS 2014 - 2014 International Automatic Control Conference, Conference Digest). doi: 10.1109/CACS.2014.7097212

Development of upper-limb exoskeleton simulator for passive rehabilitation

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