Med Biol Eng Comput - Comfort of two shoulder actuation mechanisms for arm therapy exoskeletons: a comparative study in healthy subjects.

Tópicos

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Resumo

Robotic exoskeletons can be used to study and treat patients with neurological impairments. They can guide and support the human limb over a large range of motion, which requires that the movement trajectory of the exoskeleton coincide with the one of the human arm. This is straightforward to achieve for rather simple joints like the elbow, but very challenging for complex joints like the human shoulder, which is comprised by several bones and can exhibit a movement with multiple rotational and translational degrees of freedom. Thus, several research groups have developed different shoulder actuation mechanism. However, there are no experimental studies that directly compare the comfort of two different shoulder actuation mechanisms. In this study, the comfort and the naturalness of the new shoulder actuation mechanism of the ARMin III exoskeleton are compared to a ball-and-socket-type shoulder actuation. The study was conducted in 20 healthy subjects using questionnaires and 3D-motion records to assess comfort and naturalness. The results indicate that the new shoulder actuation is slightly better than a ball-and-socket-type actuation. However, the differences are small, and under the tested conditions, the comfort and the naturalness of the two tested shoulder actuations do not differ a lot.

Resumo Limpo

robot exoskeleton can use studi treat patient neurolog impair can guid support human limb larg rang motion requir movement trajectori exoskeleton coincid one human arm straightforward achiev rather simpl joint like elbow challeng complex joint like human shoulder compris sever bone can exhibit movement multipl rotat translat degre freedom thus sever research group develop differ shoulder actuat mechan howev experiment studi direct compar comfort two differ shoulder actuat mechan studi comfort natur new shoulder actuat mechan armin iii exoskeleton compar ballandsockettyp shoulder actuat studi conduct healthi subject use questionnair dmotion record assess comfort natur result indic new shoulder actuat slight better ballandsockettyp actuat howev differ small test condit comfort natur two test shoulder actuat differ lot

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