TY - GEN
T1 - Novel Supernumerary Robotic Limb based on Variable Stiffness Actuators for Hemiplegic Patients Assistance
AU - Hasanen, Basma B.
AU - Awad, Mohammad I.
AU - Boushaki, Mohamed N.
AU - Niu, Zhenwei
AU - Ramadan, Mohammed A.
AU - Hussain, Irfan
N1 - Funding Information:
The drawbacks of the proposed system lie in the relative bulkiness of the VSAs; the main contributor to the bulkiness is the utilization of relatively large motors with gear heads. However, this drawback can be overcome by realizing more compact designs of VSA and utilizing relatively smaller motors with similar torque capacities. In addition, the authors will explore other control algorithms in the future, including iterative learning control and phase-variable control strategies. Moreover, qualitative experiments with hemiplegic patients will be performed. ACKNOWLEDGMENT This work was supported by Khalifa University of Science and Technology under Award RC1-2018-KUCARS. REFERENCES
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Loss of upper extremity motor control and function is an unremitting symptom in post-stroke patients. This would impose hardships on accomplishing their daily life activities. Supernumerary robotic limbs (SRLs) were introduced as a solution to regain the lost Degrees of Freedom (DoFs) by introducing an independent new limb. The actuation systems in SRL can be categorized into rigid and soft actuators. Soft actuators have proven advantageous over their rigid counterparts through intrinsic safety, cost, and energy efficiency. However, they suffer from low stiffness, which jeopardizes their accuracy. Variable Stiffness Actuators (VSAs) are newly developed technologies that have been proven to ensure accuracy and safety. In this paper, we introduce the novel Supernumerary Robotic Limb based on Variable Stiffness Actuators. Based on our knowledge, the proposed proof-of-concept SRL is the first that utilizes Variable Stiffness Actuators. The developed SRL would assist post-stroke patients in bi-manual tasks, e.g., eating with a fork and knife. The modeling, design, and realization of the system are illustrated. The proposed SRL was evaluated and verified for its accuracy via predefined trajectories. The safety was verified by utilizing the momentum observer for collision detection, and several post-collision reaction strategies were evaluated through the Soft Tissue Injury Test. The assistance process is qualitatively verified through standard user-satisfaction questionnaire.
AB - Loss of upper extremity motor control and function is an unremitting symptom in post-stroke patients. This would impose hardships on accomplishing their daily life activities. Supernumerary robotic limbs (SRLs) were introduced as a solution to regain the lost Degrees of Freedom (DoFs) by introducing an independent new limb. The actuation systems in SRL can be categorized into rigid and soft actuators. Soft actuators have proven advantageous over their rigid counterparts through intrinsic safety, cost, and energy efficiency. However, they suffer from low stiffness, which jeopardizes their accuracy. Variable Stiffness Actuators (VSAs) are newly developed technologies that have been proven to ensure accuracy and safety. In this paper, we introduce the novel Supernumerary Robotic Limb based on Variable Stiffness Actuators. Based on our knowledge, the proposed proof-of-concept SRL is the first that utilizes Variable Stiffness Actuators. The developed SRL would assist post-stroke patients in bi-manual tasks, e.g., eating with a fork and knife. The modeling, design, and realization of the system are illustrated. The proposed SRL was evaluated and verified for its accuracy via predefined trajectories. The safety was verified by utilizing the momentum observer for collision detection, and several post-collision reaction strategies were evaluated through the Soft Tissue Injury Test. The assistance process is qualitatively verified through standard user-satisfaction questionnaire.
KW - Post-Stroke Assistive Devices
KW - Supernumerary Robotic Limbs
KW - Variable Stiffness Actuators
UR - http://www.scopus.com/inward/record.url?scp=85146347420&partnerID=8YFLogxK
U2 - 10.1109/IROS47612.2022.9981932
DO - 10.1109/IROS47612.2022.9981932
M3 - Conference contribution
AN - SCOPUS:85146347420
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1892
EP - 1899
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Y2 - 23 October 2022 through 27 October 2022
ER -
