Jul 2026· 2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)· pp. 1-8· 0 citations· 12 references
Abstract
Upper-limb exoskeletons mounted on wheelchairs represent a promising solution for paraplegic patients, as they can reduce shoulder overload while enabling the performance of daily activities. This paper presents the modeling, functional design, and prototyping of a novel five-degree-of-freedom (5-DoF) upper-limb exoskeleton, developed with a strong emphasis on lightness and biomechanical compatibility to ensure low-effort use by patients. The proposed mechanical architecture is specifically designed to facilitate seamless integration with a wheelchair. Kinematic modeling is performed using Denavit-Hartenberg (DH) parameters and is experimentally validated through motion capture data obtained with an OptiTrack system. The results demonstrate that the joint ranges closely match physiological human motion and confirm the validity of the proposed kinematic model. This work establishes a solid baseline for the development of intelligent control strategies in future research, in which motorization will be introduced to actuate at least one degree of freedom of the system, specifically shoulder abduction.
Individuals with strokes or musculoskeletal conditions often experience a restricted shoulder range of motion, necessitating rehabilitation that is generally time-consuming, and due to high therapist workloads, patients often need to perform the exercises independently to complete their program. To address this, roboti...
The objective is to test, in healthy participants, whether an anatomically aligned shoulder mechanism preserves sEMG signal quality during physical coupling while a lightweight classifier recognizes movement intent in real time, and establish technical feasibility as a precursor to future clinical trials in stroke pati...
Ang Ling Weay, Ming Tang· International Islamic Univer...· 0 citations
OBJECTIVE
The shoulder joint is pivotal for upper-limb kinematics, yet individuals with post-stroke hemiparesis often require external shoulder support because of impaired motor control, excessive gravitational loading, and the risk of glenohumeral complications. Existing rehabilitation exoskeletons still face challeng...
Rongna Xu, Wen-Hao Yan, Songning Deng et al.· IEEE transactions on bio-med...· 0 citations
Human augmentation is an important branch of robotics research aimed at reducing metabolic energy consumption, delaying fatigue, and increasing body speed. However, existing evaluation protocols lack systematic frameworks for unpowered hip devices. This study aims to reduce the energy consumption of human movement with...
To address the problems of limited rehabilitation resources, difficulty in ensuring sufficient training intensity, and insufficient individualized training schemes for stroke patients with ankle dysfunction, this paper proposes a two-degree-of- freedom independently driven serial ankle rehabilitation robot based on the...
Yao Dai, Qing Tao, Chen-Yao Liu et al.· International Conference on...· 0 citations
Stroke and neuromuscular trauma constitute a leading global cause of severe long-term upper-limb motor disability. Although rehabilitation robotics has proven effective in inducing activity-dependent cortical neuroplasticity through high-intensity training, a significant translational gap persists between complex labor...
Yensy Valdez García, Ma Alamilla Daniel, Angel Ricardo Licona Rodríguez· International Journal of Com...· 0 citations
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