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Development and verification of upper extremities wearable robots to aid muscular strength with the optimization of link parameters

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Abstract

In this study, we developed a wearable robot operating on the external skeleton to support the movements of a weak person’s upper limbs, mainly 3-degree of freedom (DOF) of the shoulder, 1-degree of freedom of the elbow. Moreover, we applied a redundant degree of freedom to design an upper extremities wearable robot that accurately follows the movement of the upper limbs. Namely, we applied 4 driving parts to the robot to enable 3-degree of freedom for shoulders by optimizing the conformance between the links and body movement range. The optimal design which minimizes error where the robot and the body is adjusted, improves wear sensation and signal input. We attached a multi-axes load-cell to generate motion intent signals detecting the movements of the body. According to the EMG signal measurements when moving the upper limbs with the robot on, the RMS value decreased compared to that without the robot. This is due to the decrease in muscle activity, which results from using smaller muscular strength. That is to say, when comparing the same movements, the person wearing the robot used less muscular strength with the help of the robot. Also through SEF50 analysis of the EMG signals, we were able to verify that the muscle fatigue lessened.

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Abbreviations

SEF50:

Special Edge Frequency 50%

SQP:

Sequence Quadratic Programming

RMS:

Root Mean Square

MVIC:

Maximum Voluntary Isometric Contraction

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Authors and Affiliations

  1. Department of Mechanical Engineering, Hanyang University, 222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, South Korea

    Hye-Youn Jang

  2. Department of Mechatronics Engineering, Hanyang University, 55, Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do, 15588, South Korea

    Young-Hoon Ji

  3. Department of Mechanical System Engineering, Hansung University, 116, Samseongyo-ro 16-gil, Seongbuk-gu, Seoul, 02876, South Korea

    Jung-Soo Han

  4. Department of Mechanical Design Engineering, Hanyang University, 222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, South Korea

    Abdul Manan Khan

  5. Department of Orthopaedic Surgery, Cheil General Hospital and Women’s Healthcare Center, 17, Seoae-ro 1-gil, Jung-gu, Seoul, 04619, South Korea

    Jae-Yong Ahn

  6. Department of Robot Engineering, Hanyang University, 55, Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do, 15588, South Korea

    Chang-Soo Han

Authors
  1. Hye-Youn Jang
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  2. Young-Hoon Ji
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  3. Jung-Soo Han
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  6. Chang-Soo Han
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Correspondence to Chang-Soo Han.

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Jang, HY., Ji, YH., Han, JS. et al. Development and verification of upper extremities wearable robots to aid muscular strength with the optimization of link parameters. Int. J. Precis. Eng. Manuf. 16, 2569–2575 (2015). https://doi.org/10.1007/s12541-015-0329-1

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  • DOI: https://doi.org/10.1007/s12541-015-0329-1

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