Oguntosin, V. and Harwin, William S. and Kawamura, Sadao and Nasuto, Slawomir J. and Hayashi, Yoshikatsu (2015) Development of a wearable assistive soft robotic device for elbow rehabilitation. In: 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), 11-14 August 2015, Singapore.
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Abstract
The loss of motor function at the elbow joint can result as a consequence of stroke. Stroke is a clinical illness resulting in long lasting neurological deficits often affecting somatosensory and motor cortices. More than half of those that recover from a stroke survive with disability in their upper arm and need rehabilitation therapy to help in regaining functions of daily living. In this paper, we demonstrated a prototype of a low-cost, ultra-light and wearable soft robotic assistive device that could aid administration of elbow motion therapies to stroke patients. In order to assist the rotation of the elbow joint, the soft modules which consist of soft wedge-like cellular units was inflated by air to produce torque at the elbow joint. Highly compliant rotation can be naturally realised by the elastic property of soft silicone and pneumatic control of air. Based on the direct visual-actuation control, a higher control loop utilised visual processing to apply positional control, the lower control loop was implemented by an electronic circuit to achieve the desired pressure of the soft modules by Pulse Width Modulation. To examine the functionality of the proposed soft modular system, we used an anatomical model of the upper limb and performed the experiments with healthy participants.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Faculty of Engineering, Science and Mathematics > School of Electronics and Computer Science |
| Depositing User: | Patricia Nwokealisi |
| Date Deposited: | 17 Dec 2024 15:12 |
| Last Modified: | 17 Dec 2024 15:12 |
| URI: | http://eprints.covenantuniversity.edu.ng/id/eprint/18659 |
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