By Topic

Kinematics and design of AssistOn-SE: A self-adjusting shoulder-elbow exoskeleton

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Yalcin, M. ; Fac. of Eng. & Natural Sci., Sabanci Univ., Istanbul, Turkey ; Patoglu, V.

We present kinematics, workspace analysis and detailed design of ASSISTON-SE, a novel powered exoskeleton for robot-assisted rehabilitation that allows for movements of the shoulder girdle as well as shoulder rotations. ASSISTON-SE can both actively and passively enable translational movements of the center of glenohumeral joint, thus can adjust its joint axes corresponding to shoulder rotations, providing an ideal match between human joint axes and the exoskeleton axes. Thanks to this feature, ASSISTON-SE not only guarantees ergonomy and comfort throughout the therapy, but also extends the usable range of motion for the shoulder joint. Adjustability feature also significantly shortens the setup time required to attach the patient to the exoskeleton. In addition to typical shoulder rotation exercises, ASSISTON-SE can deliver glenohumeral mobilization (scapular elevation/depression and protraction/retraction) and scapular stabilization exercises, extending the type of therapies that can be administered using upper-arm exoskeletons.

Published in:

Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on

Date of Conference:

24-27 June 2012