Development of Rotator Cuff Exoskeleton Upper Limb Disability Support
In addressing the gap in exoskeleton development for individuals with rotator cuff injuries, we have developed a wearable, robust, and safe exoskeleton specifically designed to enhance shoulder mobility. Despite the high prevalence of rotator cuff issues, there is a scarcity of assistive device...
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| Main Authors: | , , , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
IEEE
2024
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/117361/1/Development_of_Rotator_Cuff_Exoskeleton_Upper_Limb_Disability_Support.pdf http://irep.iium.edu.my/117361/7/Development%20of%20Rotator%20Cuff%20Exoskeleton%20Upper%20_scopus.pdf http://irep.iium.edu.my/117361/ https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10652589 |
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| Summary: | In addressing the gap in exoskeleton
development for individuals with rotator cuff injuries, we
have developed a wearable, robust, and safe exoskeleton
specifically designed to enhance shoulder mobility. Despite
the high prevalence of rotator cuff issues, there is a scarcity
of assistive devices tailored to these injuries, leading to
diminished quality of life and mobility. Our project aims to
fill this void by creating an affordable and accessible
exoskeleton. We focused on two main objectives: designing
a suitable and wearable mechanism for shoulder support,
and performing practical experiments to validate these
factors in real-world conditions.
To achieve this, we calculated the theoretical torque needed
to lift an average human shoulder and used Fusion 360 for
3D printing the design with PLA filament. We calibrated
the motor behavior using an upper computer by Cubemars
and managed the system through a PI controller with CAN
communication protocol. Our results demonstrated that the
exoskeleton effectively supports shoulder movements,
including abduction, adduction, flexion, and extension,
meeting the necessary torque requirements. Although we
did not study the battery life of the exoskeleton, our focus
was on ensuring the design's wearability and functionality.
There were slight differences between the actual and
targeted movement of the exoskeleton arm due to some
mechanical losses, but the overall design supports critical
shoulder movements effectively. This promising solution
enhances assistive technology for those suffering from
rotator cuff injuries, making it more accessible and
practical. |
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