Design and Validation of a Rehabilitation Robotic Exoskeleton for Tremor Assessment and Suppression

@article{Rocon2007DesignAV,
  title={Design and Validation of a Rehabilitation Robotic Exoskeleton for Tremor Assessment and Suppression},
  author={Eduardo Rocon and Jos{\'e} M. Belda-Lois and Andr{\'e}s Ruiz and Mario Manto and Juan C. Moreno and Jose Luis Pons},
  journal={IEEE Transactions on Neural Systems and Rehabilitation Engineering},
  year={2007},
  volume={15},
  pages={367-378}
}
Exoskeletons are mechatronic systems worn by a person in such a way that the physical interface permits a direct transfer of mechanical power and exchange of information. Upper limb robotic exoskeletons may be helpful for people with disabilities and/or limb weakness or injury. Tremor is the most common movement disorder in neurological practice. In addition to medication, rehabilitation programs, and deep brain stimulation, biomechanical loading has appeared as a potential tremor suppression… 
A Novel Exoskeleton System Based on Magnetorheological Fluid for Tremor Suppression of Wrist Joints
TLDR
Preliminary results suggest that the signal acquisition system can obtain reliable data and the WTSE can reduce the amplitude of acceleration and angular velocity of simulated tremor by 60.39% and 55.07%, respectively.
Voluntary-Driven Elbow Orthosis with Speed-Controlled Tremor Suppression
TLDR
A one degree-of-freedom (DOF) elbow orthosis that could be worn by an individual with tremor is developed and a speed-controlled, voluntary-driven suppression approach is implemented with the orthosis.
Tremor-Suppression Orthoses for the Upper Limb: Current Developments and Future Challenges
TLDR
A review showed an improvement in efficacy of using robotic orthoses in tremor suppression, however, significant challenges for the translations of these systems into clinical or home use remain unsolved.
Biomechanical Loading as an Alternative Treatment for Tremor: A Review of Two Approaches
TLDR
Findings of two research projects in which two different wearable robots for tremor management were developed based on force loading and validated demonstrate that both approaches effectively suppressed tremor in most patients, although further research is required.
A Review on Wearable Technologies for Tremor Suppression
TLDR
The article evaluates the different metrics used for the validation of these devices and the lack of a standard validation procedure that allows the comparison among them, and reviews the devices developed following these tremor management paradigms, such as robotic exoskeletons, soft robotics, and transcutaneous neurostimulators.
Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy
TLDR
This paper introduces a shoulder exoskeleton robot with a modular joint and an off-board modular actuator, and shows the tracking performance of the periodic trajectory of a joint angle with both human and mannequin arms as simulated impairments.
Design and Development of Cable Driven Upper Limb Exoskeleton for Arm Rehabilitation
this paper describes the design and kinematic analysis of a 5 DOF upper limb powered robotic exoskeleton for rehabilitation of the patients who survived stroke and the elderly who do not have enough
NEUROExos: A Powered Elbow Exoskeleton for Physical Rehabilitation
TLDR
The design and experimental testing of the robotic elbow exoskeleton NEUROExos, which allows the user's elbow and robot axes to be constantly aligned during movement, and a variable impedance antagonistic actuation system, allows it to be controlled with two alternative strategies.
...
...

References

SHOWING 1-10 OF 37 REFERENCES
Rehabilitation Robotics: a Wearable Exo-Skeleton for Tremor Assessment and Suppression
TLDR
The robotic exoskeleton called WOTAS (Wearable Orthosis for Tremor Assessment and Suppression) presented in this paper will provide a means of testing non-grounded control strategies in order to help people with disabilities and/or limb weakness or injury.
Development and Control of a ‘Soft-Actuated’ Exoskeleton for Use in Physiotherapy and Training
TLDR
The work presented shows how the system takes advantage of the inherent controllable compliance to produce a unit that is extremely powerful, providing a wide range of functionality (motion and forces over an extended range) in a manner that has high safety integrity for the patient.
Design of a controlled-energy-dissipation orthosis (CEDO) for functional suppression of intention tremors.
TLDR
Initial experimental results show selective clinically significant tremor reduction during experimental tracking tasks and CEDO 1 is a prototype Controlled-Energy-Dissipation Orthosis, which permits the 3 degrees of freedom needed for table-top activities.
Biomechanical modelling of the upper limb for robotics-based orthotic tremor suppression
Orthotic management has been proposed as an interesting alternative to current tremor management methods. It is expected that an improvement on manipulative function can be obtained by reducing the
A wearable tremor-suppression orthosis.
The Viscous Beam is a wearable tremor-suppression orthosis that applies viscous resistance to motion of the wrist in flexion and extension. The orthosis reduces tremor amplitude and is small enough
The design of a five-degree-of-freedom powered orthosis for the upper limb
TLDR
In assistive mode, prototype testing has demonstrated that the MULOS system can provide the movements required for a range of simple tasks and, in continuous passive motion (CPM) mode, the programming system has been successfully implemented.
Tremor suppression through impedance control.
TLDR
It is concluded that nonadaptive tremor suppression systems that utilize impedance control to achieve a specified reduction in tremor power can be successfully designed when accurate open-loop human-machine models are available.
Pathological tremor management: Modelling, compensatory technology and evaluation
TLDR
A comprehensive review of research work in this generic field of tremor management during the last decades is introduced with special focus on the systems approach and thus a specific section on modelling has been included.
Dynamically responsive intervention for tremor suppression
TLDR
The DRIFTS (Dynamically Responsive Intervention For Tremor Suppression) project aims to create wearable active orthoses that suppress upper-limb tremor while allowing natural movement and develops a prototyping and evaluation platform for the future elaboration of wearable ambulatory tremor suppression devices.
Tremor disorders. Diagnosis and management.
Tremor is commonly encountered in medical practice, but can be difficult to diagnose and manage. It is an involuntary rhythmic oscillation of a body part produced by reciprocally innervated
...
...