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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: Zulhelmi, Muhammad Ashraf, Lokman, Ahmad Yusuf, Md. Yusof, Hazlina, Khan, Md. Raisuddin
Format: Proceeding Paper
Language:English
English
Published: IEEE 2024
Subjects:
TJ212 Control engineering
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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spelling my.iium.irep.1173612024-12-31T09:19:31Z http://irep.iium.edu.my/117361/ Development of Rotator Cuff Exoskeleton Upper Limb Disability Support Zulhelmi, Muhammad Ashraf Lokman, Ahmad Yusuf Md. Yusof, Hazlina Khan, Md. Raisuddin TJ212 Control engineering 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. IEEE 2024 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/117361/1/Development_of_Rotator_Cuff_Exoskeleton_Upper_Limb_Disability_Support.pdf application/pdf en http://irep.iium.edu.my/117361/7/Development%20of%20Rotator%20Cuff%20Exoskeleton%20Upper%20_scopus.pdf Zulhelmi, Muhammad Ashraf and Lokman, Ahmad Yusuf and Md. Yusof, Hazlina and Khan, Md. Raisuddin (2024) Development of Rotator Cuff Exoskeleton Upper Limb Disability Support. In: 9th International Conference on Mechatronics Engineering (ICOM’24), 13-14 August 2024, Kuala Lumpur. https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10652589 10.1109/ICOM61675.2024.10652589
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Zulhelmi, Muhammad Ashraf
Lokman, Ahmad Yusuf
Md. Yusof, Hazlina
Khan, Md. Raisuddin
Development of Rotator Cuff Exoskeleton Upper Limb Disability Support
description 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.
format Proceeding Paper
author Zulhelmi, Muhammad Ashraf
Lokman, Ahmad Yusuf
Md. Yusof, Hazlina
Khan, Md. Raisuddin
author_facet Zulhelmi, Muhammad Ashraf
Lokman, Ahmad Yusuf
Md. Yusof, Hazlina
Khan, Md. Raisuddin
author_sort Zulhelmi, Muhammad Ashraf
title Development of Rotator Cuff Exoskeleton Upper Limb Disability Support
title_short Development of Rotator Cuff Exoskeleton Upper Limb Disability Support
title_full Development of Rotator Cuff Exoskeleton Upper Limb Disability Support
title_fullStr Development of Rotator Cuff Exoskeleton Upper Limb Disability Support
title_full_unstemmed Development of Rotator Cuff Exoskeleton Upper Limb Disability Support
title_sort development of rotator cuff exoskeleton upper limb disability support
publisher IEEE
publishDate 2024
url 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
_version_ 1821105137973723136
score 13.235362

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