Design and control of the Active A-Gear: A wearable 5 DOF arm exoskeleton for adults with Duchenne muscular dystrophy

Peter N. Kooren, Joan Lobo Prat, Arvid Q.L. Keemink, Mariska M. Janssen, Arno H.A. Stienen, Imelda J.M. de Groot, Micha I. Paalman, Ruud Verdaasdonk, Bart F.J.M. Koopman

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

13 Citations (Scopus)
38 Downloads (Pure)

Abstract

Adults with Duchenne muscular dystrophy (DMD) can benefit from active arm supports that augment the residual motion capabilities of their arms. While there is a considerable number of active exoskeletons commercially available for rehabilitation purposes, no active exoskeletons for supporting the arm function during the performance of activities of daily living (ADL) are available. In this paper, we present the Active A-gear, a wearable five degree-of freedom exoskeleton that has been specially developed to assist people with DMD for the performance of ADL. The Active A-Gear is built upon our previous design of the passive A-Gear, thus combining active and passive support. The Active A-Gear can be controlled using force-based (admittance) control. We report the results of the system verification, which included endpoint position bandwidth, workspace, weight, joint speed, endpoint force and joint backlash measurements. A pilot evaluation was carried out with one healthy subject (27 years-old) performing ADL. The results of the verification and evaluation tests indicate that with some modifications the Active A-Gear is a suitable platform to test the functional performance and feasibility of a wearable and active support for adults with DMD.
Original languageEnglish
Title of host publicationProceedings 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
EditorsS. Kukreja, L. Masia
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages637-642
ISBN (Electronic)978-1-5090-3287-7
ISBN (Print)978-1-5090-3288-4
DOIs
Publication statusPublished - 26 Jun 2016
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - University Town, Singapore, Singapore, Singapore
Duration: 26 Jun 201629 Jun 2016
Conference number: 6
http://www.ieee-ras.org/component/rseventspro/event/721-biorob-2016-ieee-international-conference-on-biomedical-robotics-and-biomechatronics

Publication series

NameProceedings IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
PublisherIEEE Computer Society
Volume2016
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782

Conference

Conference6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Abbreviated titleBioRob 2016
Country/TerritorySingapore
CitySingapore
Period26/06/1629/06/16
Internet address

Keywords

  • 2024 OA procedure

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