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

doi:10.1109/BIOROB.2016.7523697

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

Faculty of Engineering Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-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 language	English
Title of host publication	Proceedings 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Editors	S. Kukreja, L. Masia
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	637-642
ISBN (Electronic)	978-1-5090-3287-7
ISBN (Print)	978-1-5090-3288-4
DOIs	https://doi.org/10.1109/BIOROB.2016.7523697
Publication status	Published - 26 Jun 2016
Event	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - University Town, Singapore, Singapore, Singapore Duration: 26 Jun 2016 → 29 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

Name	Proceedings IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Publisher	IEEE Computer Society
Volume	2016
ISSN (Print)	2155-1774
ISSN (Electronic)	2155-1782

Conference

Conference	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Abbreviated title	BioRob 2016
Country/Territory	Singapore
City	Singapore
Period	26/06/16 → 29/06/16
Internet address	http://www.ieee-ras.org/component/rseventspro/event/721-biorob-2016-ieee-international-conference-on-biomedical-robotics-and-biomechatronics

Keywords

2024 OA procedure

Access to Document

10.1109/BIOROB.2016.7523697

ArticleFinal published version, 1.04 MBLicence: Taverne

Cite this

Kooren, P. N., Lobo Prat, J., Keemink, A. Q. L., Janssen, M. M., Stienen, A. H. A., de Groot, I. J. M., Paalman, M. I., Verdaasdonk, R., & Koopman, B. F. J. M. (2016). Design and control of the Active A-Gear: A wearable 5 DOF arm exoskeleton for adults with Duchenne muscular dystrophy. In S. Kukreja, & L. Masia (Eds.), Proceedings 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) (pp. 637-642). (Proceedings IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob); Vol. 2016). IEEE. https://doi.org/10.1109/BIOROB.2016.7523697

Kooren, Peter N. ; Lobo Prat, Joan ; Keemink, Arvid Q.L. et al. / Design and control of the Active A-Gear : A wearable 5 DOF arm exoskeleton for adults with Duchenne muscular dystrophy. Proceedings 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). editor / S. Kukreja ; L. Masia. Piscataway, NJ : IEEE, 2016. pp. 637-642 (Proceedings IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)).

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

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.",

keywords = "2024 OA procedure",

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

year = "2016",

month = jun,

day = "26",

doi = "10.1109/BIOROB.2016.7523697",

language = "English",

isbn = "978-1-5090-3288-4",

series = "Proceedings IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)",

publisher = "IEEE",

pages = "637--642",

editor = "S. Kukreja and L. Masia",

booktitle = "Proceedings 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)",

address = "United States",

note = "6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, BioRob 2016 ; Conference date: 26-06-2016 Through 29-06-2016",

url = "http://www.ieee-ras.org/component/rseventspro/event/721-biorob-2016-ieee-international-conference-on-biomedical-robotics-and-biomechatronics",

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Kooren, PN, Lobo Prat, J, Keemink, AQL, Janssen, MM, Stienen, AHA, de Groot, IJM, Paalman, MI, Verdaasdonk, R & Koopman, BFJM 2016, Design and control of the Active A-Gear: A wearable 5 DOF arm exoskeleton for adults with Duchenne muscular dystrophy. in S Kukreja & L Masia (eds), Proceedings 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). Proceedings IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), vol. 2016, IEEE, Piscataway, NJ, pp. 637-642, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, Singapore, Singapore, 26/06/16. https://doi.org/10.1109/BIOROB.2016.7523697

Design and control of the Active A-Gear: A wearable 5 DOF arm exoskeleton for adults with Duchenne muscular dystrophy. / Kooren, Peter N.; Lobo Prat, Joan; Keemink, Arvid Q.L. et al.
Proceedings 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). ed. / S. Kukreja; L. Masia. Piscataway, NJ: IEEE, 2016. p. 637-642 (Proceedings IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob); Vol. 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Keemink, Arvid Q.L.

AU - Janssen, Mariska M.

AU - Stienen, Arno H.A.

AU - de Groot, Imelda J.M.

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AU - Koopman, Bart F.J.M.

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AB - 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.

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T3 - Proceedings IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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BT - Proceedings 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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ER -

Kooren PN, Lobo Prat J, Keemink AQL, Janssen MM, Stienen AHA, de Groot IJM et al. Design and control of the Active A-Gear: A wearable 5 DOF arm exoskeleton for adults with Duchenne muscular dystrophy. In Kukreja S, Masia L, editors, Proceedings 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). Piscataway, NJ: IEEE. 2016. p. 637-642. (Proceedings IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)). doi: 10.1109/BIOROB.2016.7523697

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

Abstract

Publication series

Conference

Keywords

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