RUPERT: An exoskeleton robot for assisting rehabilitation of arm functions
The design of a wearable upper extremity therapy robot RUPERT IVtrade (Robotic Upper Extremity Repetitive Trainer) device is presented. It is designed to assist in repetitive therapy tasks related to activities of daily living which has been advocated for being more effective for functional recovery...
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creator | Balasubramanian, S. Ruihua Wei Perez, M. Shepard, B. Koeneman, E. Koeneman, J. Jiping He |
description | The design of a wearable upper extremity therapy robot RUPERT IVtrade (Robotic Upper Extremity Repetitive Trainer) device is presented. It is designed to assist in repetitive therapy tasks related to activities of daily living which has been advocated for being more effective for functional recovery. RUPERTtrade has five actuated degrees of freedom driven by compliant and safe pneumatic muscle actuators (PMA) assisting shoulder elevation, humeral external rotation, elbow extension, forearm supination and wrist/hand extension. The device is designed to extend the arm and move in a 3D space with no gravity compensation, which is a natural setting for practicing day-to-day activities. Because the device is wearable and lightweight, the device is very portable; it can be worn standing or sitting for performing therapy tasks that better mimic activities of daily living. A closed-loop controller combining a PID-based feedback controller and a iterative learning controller (ILC)-based feedforward controller is proposed for RUPERT for passive repetitive task training. This type of control aids in overcoming the highly nonlinear nature of the plant under control, and also helps in adapting easily to different subjects for performing different tasks. The system was tested on two able-bodied subjects to evaluate its performance. |
doi_str_mv | 10.1109/ICVR.2008.4625154 |
format | Conference Proceeding |
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It is designed to assist in repetitive therapy tasks related to activities of daily living which has been advocated for being more effective for functional recovery. RUPERTtrade has five actuated degrees of freedom driven by compliant and safe pneumatic muscle actuators (PMA) assisting shoulder elevation, humeral external rotation, elbow extension, forearm supination and wrist/hand extension. The device is designed to extend the arm and move in a 3D space with no gravity compensation, which is a natural setting for practicing day-to-day activities. Because the device is wearable and lightweight, the device is very portable; it can be worn standing or sitting for performing therapy tasks that better mimic activities of daily living. A closed-loop controller combining a PID-based feedback controller and a iterative learning controller (ILC)-based feedforward controller is proposed for RUPERT for passive repetitive task training. This type of control aids in overcoming the highly nonlinear nature of the plant under control, and also helps in adapting easily to different subjects for performing different tasks. 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This type of control aids in overcoming the highly nonlinear nature of the plant under control, and also helps in adapting easily to different subjects for performing different tasks. The system was tested on two able-bodied subjects to evaluate its performance.</description><subject>Elbow</subject><subject>Extremities</subject><subject>Joints</subject><subject>Medical treatment</subject><subject>Robot kinematics</subject><subject>Robots</subject><subject>Shoulder</subject><issn>2331-9542</issn><isbn>1424427002</isbn><isbn>9781424427000</isbn><isbn>9781424427017</isbn><isbn>1424427010</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2008</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1kM1KAzEUhSNasK3zAOImLzD13uTOz3VXStVKQSmt25JJE41OZ2Qygr69Fuvq8MH5zuIIcYkwQQS-XsyeVxMFUE4oVxlmdCISLkokRaQKwOJUjP4B1JkYKq0x5YzUQIwOHkOWM5-LJMY3ANBYMhINxcNq8zRfrW_ktJHuq43vrnZ928iurdpe-raTJsYQ-9C8yM69mirUoTd9-K20XppuL_1nYw8cL8TAmzq65Jhjsbmdr2f36fLxbjGbLlOrlO5Tl--8h4wKyJE8eUvOcl6Uzpqi4go0s7egc4WKLBqv9E5r1oxcZaUptR6Lq7_d4JzbfnRhb7rv7fEX_QOt8VF7</recordid><startdate>200808</startdate><enddate>200808</enddate><creator>Balasubramanian, S.</creator><creator>Ruihua Wei</creator><creator>Perez, M.</creator><creator>Shepard, B.</creator><creator>Koeneman, E.</creator><creator>Koeneman, J.</creator><creator>Jiping He</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200808</creationdate><title>RUPERT: An exoskeleton robot for assisting rehabilitation of arm functions</title><author>Balasubramanian, S. ; Ruihua Wei ; Perez, M. ; Shepard, B. ; Koeneman, E. ; Koeneman, J. ; Jiping He</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c223t-e6dff05470614f4fc4ec9678eca7b9b0399fc0362124c1af23d3393919b58a833</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2008</creationdate><topic>Elbow</topic><topic>Extremities</topic><topic>Joints</topic><topic>Medical treatment</topic><topic>Robot kinematics</topic><topic>Robots</topic><topic>Shoulder</topic><toplevel>online_resources</toplevel><creatorcontrib>Balasubramanian, S.</creatorcontrib><creatorcontrib>Ruihua Wei</creatorcontrib><creatorcontrib>Perez, M.</creatorcontrib><creatorcontrib>Shepard, B.</creatorcontrib><creatorcontrib>Koeneman, E.</creatorcontrib><creatorcontrib>Koeneman, J.</creatorcontrib><creatorcontrib>Jiping He</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Balasubramanian, S.</au><au>Ruihua Wei</au><au>Perez, M.</au><au>Shepard, B.</au><au>Koeneman, E.</au><au>Koeneman, J.</au><au>Jiping He</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>RUPERT: An exoskeleton robot for assisting rehabilitation of arm functions</atitle><btitle>2008 Virtual Rehabilitation</btitle><stitle>ICVR</stitle><date>2008-08</date><risdate>2008</risdate><spage>163</spage><epage>167</epage><pages>163-167</pages><issn>2331-9542</issn><isbn>1424427002</isbn><isbn>9781424427000</isbn><eisbn>9781424427017</eisbn><eisbn>1424427010</eisbn><abstract>The design of a wearable upper extremity therapy robot RUPERT IVtrade (Robotic Upper Extremity Repetitive Trainer) device is presented. It is designed to assist in repetitive therapy tasks related to activities of daily living which has been advocated for being more effective for functional recovery. RUPERTtrade has five actuated degrees of freedom driven by compliant and safe pneumatic muscle actuators (PMA) assisting shoulder elevation, humeral external rotation, elbow extension, forearm supination and wrist/hand extension. The device is designed to extend the arm and move in a 3D space with no gravity compensation, which is a natural setting for practicing day-to-day activities. Because the device is wearable and lightweight, the device is very portable; it can be worn standing or sitting for performing therapy tasks that better mimic activities of daily living. A closed-loop controller combining a PID-based feedback controller and a iterative learning controller (ILC)-based feedforward controller is proposed for RUPERT for passive repetitive task training. This type of control aids in overcoming the highly nonlinear nature of the plant under control, and also helps in adapting easily to different subjects for performing different tasks. The system was tested on two able-bodied subjects to evaluate its performance.</abstract><pub>IEEE</pub><doi>10.1109/ICVR.2008.4625154</doi><tpages>5</tpages></addata></record> |
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identifier | ISSN: 2331-9542 |
ispartof | 2008 Virtual Rehabilitation, 2008, p.163-167 |
issn | 2331-9542 |
language | eng |
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source | IEEE Electronic Library (IEL) Conference Proceedings |
subjects | Elbow Extremities Joints Medical treatment Robot kinematics Robots Shoulder |
title | RUPERT: An exoskeleton robot for assisting rehabilitation of arm functions |
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