Table of Contents Author Guidelines Submit a Manuscript
Applied Bionics and Biomechanics
Volume 2017, Article ID 1605101, 11 pages
https://doi.org/10.1155/2017/1605101
Research Article

New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators

Department of Systems Engineering and Automation, Carlos III University of Madrid, Madrid, Spain

Correspondence should be addressed to Dorin Copaci; se.m3cu.gni@icapocd

Received 21 March 2017; Accepted 16 July 2017; Published 5 September 2017

Academic Editor: Hoon Eui Jeong

Copyright © 2017 Dorin Copaci et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. P. Maciejasz, J. Eschweiler, K. Gerlach-Hahn, A. Jansen-Troy, and S. Leonhardt, “A survey on robotic devices for upper limb rehabilitation,” Journal of Neuroengineering and Rehabilitation, vol. 11, p. 3, 2014. View at Publisher · View at Google Scholar · View at Scopus
  2. N. Vitiello, T. Lenzi, S. Roccella et al., “NEUROExos: a powered elbow exoskeleton for physical rehabilitation,” IEEE Transactions on Robotics, vol. 29, pp. 220–235, 2013. View at Publisher · View at Google Scholar · View at Scopus
  3. N. Jarrassé, T. Proietti, V. Crocher et al., “Robotic exoskeletons: a perspective for the rehabilitation of arm coordination in stroke patients,” Frontiers in Human Neuroscience, vol. 8, p. 947, 2014. View at Publisher · View at Google Scholar · View at Scopus
  4. G. Chen, C. Khuen Chan, Z. Guo, and H. Yu, “A review of lower extremity assistive robotic exoskeletons in rehabilitation therapy,” Critical Reviews in Biomedical Engineering, vol. 41, no. 4-5, pp. 343–363, 2013. View at Google Scholar
  5. J. Schaechter, “Motor rehabilitation and brain plasticity after hemiparetic stroke,” Progress in Neurobiology, vol. 73, pp. 61–72, 2004. View at Publisher · View at Google Scholar · View at Scopus
  6. B. Sheng, Y. Zhang, W. Meng, C. Deng, and S. Xie, “Bilateral robots for upper-limb stroke rehabilitation: state of the art and future prospects,” Medical Engineering and Physics, vol. 38, no. 7, pp. 587–606, 2016. View at Publisher · View at Google Scholar · View at Scopus
  7. H. S. Lo and S. Q. Xie, “Exoskeleton robots for upper-limb rehabilitation: state of the art and future prospects,” Journal of Medical Engineering & Physics, vol. 34, no. 3, pp. 261–268, 2012. View at Publisher · View at Google Scholar · View at Scopus
  8. S. J. Ball, I. E. Brown, and S. H. Scott, “MEDARM: a rehabilitation robot with 5DOF at the shoulder complex,” in 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1–6, Zurich, Switzerland, 2007. View at Publisher · View at Google Scholar · View at Scopus
  9. H. I. Krebs, N. Hogan, M. L. Aisen, and B. T. Volpe, “Robot-aided neurorehabilitation,” IEEE Transactions on Rehabilitation Engineering, vol. 6, pp. 75–87, 1998. View at Publisher · View at Google Scholar · View at Scopus
  10. M. Schoone, P. van Os, and A. Campagne, “Robot-mediated active rehabilitation (ACRE). A user trial,” in 2007 IEEE 10th International Conference on Rehabilitation Robotics (ICORR), pp. 477–481, Noordwijk, Netherlands, 2007. View at Publisher · View at Google Scholar · View at Scopus
  11. S. Moubarak, M. T. Pham, T. Pajdla, and T. Redarce, “Design and modeling of an upper extremity exoskeleton,” in World Congress on Medical Physics and Biomedical Engineering, September 7–12, 2009, Munich, Germany. IFMBE Proceedings, vol. 25/9, O. Dössel and W. C. Schlegel, Eds., Springer, Berlin, Heidelberg, 2009.
  12. L. Fu and J. Lai, “An articulated rehabilitation robot for upper limb physiotherapy and training,” in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18–22, 2010. View at Publisher · View at Google Scholar · View at Scopus
  13. W. Yu and J. Rosen, “A novel linear PID controller for an upper limb exoskeleton,” in 2010 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, December 15–17, 2010. View at Publisher · View at Google Scholar · View at Scopus
  14. P. Garrec, J. P. Friconneau, Y. Méasson, and Y. Perrot, “ABLE, an innovative transparent exoskeleton for the upper-limb,” in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1483–1488, Nice, France, 2008. View at Publisher · View at Google Scholar · View at Scopus
  15. A. Gupta and M. K. O’Malley, “Design of a haptic arm exoskeleton for training and rehabilitation,” IEEE/ASME Transactions on Mechatronics, vol. 11, no. 3, p. 280, 2006. View at Publisher · View at Google Scholar · View at Scopus
  16. J. Perry and J. Rosen, “Design of a 7 degree-of-freedom upper-limb powered exoskeleton,” in IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Tuscany, Italy, February 20–22, 2006.
  17. T. G. Sugar, J. He, E. J. Koeneman et al., “Design and control of RUPERT: a device for robotic upper extremity repetitive therapy,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 15, no. 3, pp. 336–346, 2007. View at Publisher · View at Google Scholar · View at Scopus
  18. L. I. Ammar, B. Y. Kaddouh, M. K. Mohanna, and I. H. Elhajj, “SAS: SMA siding sleeve,” in 2010 IEEE International Conference on Robotics and Biomimetics, Tianjin (China), December 2010. View at Publisher · View at Google Scholar · View at Scopus
  19. D. Copaci, A. Flores, F. Rueda, I. Alguacil, D. Blanco, and L. Moreno, “Wearable elbow exoskeleton actuated with shape memory alloy,” in Converging Clinical and Engineering Research on Neurorehabilitation II, pp. 477–481, Springer International Publishing, 2017. View at Google Scholar
  20. J. Jani, M. Leary, A. Subic, and M. Gibson, “A review of shape memory alloy research, applications and opportunities,” Materials and Design, vol. 56, pp. 1078–1113, 2014. View at Publisher · View at Google Scholar · View at Scopus
  21. A. Villoslada, A. Flores, D. Copaci, D. Blanco, and L. Moreno, “High-displacement flexible shape memory alloy actuator for soft wearable robots,” Robotics and Autonomous Systems, vol. 73, pp. 91–101, 2015. View at Publisher · View at Google Scholar · View at Scopus
  22. J. Shippen and B. May, “Calculation of muscle loading and joint contact forces in Irish dance,” Journal of Dance Medicine and Science, vol. 14, no. 1, pp. 11–18, 2010. View at Google Scholar
  23. D. Copaci, A. Flores, D. Blanco, and L. Moreno, Simulation Tool for Exoskeleton Development Based on Matlab-Simulink, Actas de las XXXV Jornadas de Automática, Valencia (Spain), 2014.
  24. M. T. Angulo, A. Álvarez, and Y. Fuentes, “Reduca (Enfermeria, Fisioterapia y Podología),” in Biomecánica de la Extremidad Superior Exploración del Codo, vol. 3 of Reduca (Enfermería, Fisioterapia y Podología) Serie Biomecánica clínica de E.U. de Enfermería, Fisioterapia y Podología, pp. 82–103, Publisher Universidad Complutense de Madrid, Madrid, Spain, No. 4, 2011. View at Google Scholar
  25. M. Nordin and V. H. Frankel, Eds., Basic Biomechanics of the musculoskeletal system, Lippincott Williams & Wilkins, Market Street, Philadelphia, PA, USA, North American 2001 edition, 2001.
  26. D. Copaci, A. Flores, A. Villoslada, and D. Blanco, SMA Actuators Modelling and Simulation with Variable Load, XXXVI Jornadas de Automática Universidad del País Vasco, Bilbao, Spain, 2015.
  27. Datasheet Teflon AlphaWire, 2016, http://www.mouser.com/ds/2/14/-855065.pdf, 2016-08-23.
  28. S. Plagenhoef, F. Evans, and T. Abdelnour, “Anatomical data for analyzing human motion,” Research Quarterly for Exercise and Sport, vol. 54, no. 2, pp. 169–178, 1983. View at Google Scholar
  29. Technical Characteristics of Flexinol Actuator Wires, Tech. Sheet, Dynalloy Inc, http://www.dynalloy.com/tech_data_wire.php.
  30. Official website for STM32F4 controllers, 2016, http://www.st.com/en/microcontrollers.html, 2016-08-29.
  31. A. Flores-Caballero, Sistema Avanzado de Prototipado Rápido para Control en Exoesqueletos y dispositivos Mecatrónicos. Tesis Doctoral, Universidad Carlos III de Madrid, Madrid, Spain, 2014.
  32. A. Villoslada, L. Moreno, F. Martín et al., “Position control of a shape memory alloy actuator using a four-term bilinear PID controller,” Sensors and Actuators, vol. 236, pp. 257–272, 2015. View at Publisher · View at Google Scholar · View at Scopus
  33. S. Martineau, K. J. Burnham, O. C. L. Haas, G. Andrews, and A. Heeley, “Four-term bilinear PID controller applied to an industrial furnace,” Control Engineering Practice, vol. 12, pp. 457–464, 2004. View at Publisher · View at Google Scholar · View at Scopus
  34. D.-S. Copaci, L. Moreno, and D. Blanco, “Wearable elbow exoskeleton actuated with shape memory alloy in antagonist movement,” in Joint Workshop on Wearable Robotics and Assistive Devices, International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, 2016.