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Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton

Author(s)
Piña-Martínez, Eduardo; Leal-Merlo, Salvador; Rodriguez-Leal, Ernesto; Roberts Ugrinovic, Ricardo Esteban
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Abstract
Exoskeletons arise as the common ground between robotics and biomechanics, where rehabilitation is the main field in which these two disciplines find cohesion. One of the most relevant challenges in upper limb exoskeleton design relies in the high complexity of the human shoulder, where current devices implement elaborate systems only to emulate the drifting center of rotation of the shoulder joint. This paper proposes the use of 3D scanning vision technologies to ease the design process and its implementation on a variety of subjects, while a motion tracking system based on vision technologies is applied to assess the exoskeleton reachable workspace compared with an asymptomatic subject. Furthermore, the anatomic fitting index is proposed, which compares the anatomic workspace of the user with the exoskeleton workspace and provides insight into its features. This work proposes an exoskeleton architecture that considers the clavicle motion over the coronal plane whose workspace is determined by substituting the direct kinematics model with the dimensional parameters of the user. Simulations and numerical examples are used to validate the analytical results and to conciliate the experimental results provided by the vision tracking system.
Date issued
2018-06
URI
http://hdl.handle.net/1721.1/116174
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Journal
Applied Bionics and Biomechanics
Publisher
Hindawi Publishing Corporation
Citation
Piña-Martínez, Eduardo et al. "Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton." Applied Bionics and Biomechanics 2018 (June 2018): 6019381 © 2018 Eduardo Piña-Martínez et al
Version: Final published version
ISSN
1176-2322
1754-2103

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