A number of robotic exoskeletons are being developed to provide rehabilitation interventions for those with movement disabilities. We present a systematic framework that allows for virtual prototyping (i.e., design, control, and experimentation (i.e. design, control, and experimentation) of robotic exoskeletons. The framework merges computational musculoskeletal analyses with simulation-based design techniques which allows for exoskeleton design and control algorithm optimization. We introduce biomechanical, morphological, and controller measures to optimize the exoskeleton performance. A major advantage of the framework is that it provides a platform for carrying out hypothesis-driven virtual experiments to quantify device performance and rehabilitation progress. To illustrate the efficacy of the framework, we present a case study wherein the design and analysis of an index finger exoskeleton is carried out using the proposed framework.
Issue Section:
Research Papers
References
1.
Prange
, G.
, Jannink
, M.
, Groothuis-Oudshoorn
, C.
, Hermens
, H.
, and Ijzerman
, M.
, 2006
, “Systematic Review of the Effect of Robot-Aided Therapy on Recovery of the Hemiparetic Arm After Stroke
,” J. Rehabil. Res. Dev.
, 43
(2
), pp. 171
–184
.2.
Takahashi
, C. D.
, Der-Yeghiaian
, L.
, Le
, V.
, Motiwala
, R. R.
, and Cramer
, S. C.
, 2008
, “Robot-Based Hand Motor Therapy After Stroke
,” Brain
, 131
(2
), pp. 425
–437
.3.
Langhorne
, P.
, Coupar
, F.
, and Pollock
, A.
, 2009
, “Motor Recovery After Stroke: A Systematic Review
,” Lancet Neurol.
, 8
(8
), pp. 741
–754
.4.
Hwang
, C. H.
, Seong
, J. W.
, and Son
, D. S.
, 2012
, “Individual Finger Synchronized Robot-Assisted Hand Rehabilitation in Subacute to Chronic Stroke: A Prospective Randomized Clinical Trial of Efficacy
,” Clin. Rehabil.
, 26
(8
), pp. 696
–704
.5.
Dollar
, A.
, and Herr
, H.
, 2008
, “Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
,” IEEE Trans. Rob.
, 24
(1
), pp. 144
–158
.6.
Hugh
, H.
, 2009
, “Exoskeletons and Orthoses: Classification, Design Challenges and Future Directions
,” J. NeuroEng. Rehabil.
, 6
, p. 21
.7.
Heo
, P.
, Gu
, G.
, Lee
, S.
, Rhee
, K.
, and Kim
, J.
, 2012
, “Current Hand Exoskeleton Technologies for Rehabilitation and Assistive Engineering
,” Int. J. Precis. Eng. Manuf.
, 13
(5
), pp. 807
–824
.8.
Agarwal
, P.
, Fox
, J.
, Yun
, Y.
, O'Malley
, M. K.
, and Deshpande
, A. D.
, 2015
, “An Index Finger Exoskeleton With Series Elastic Actuation for Rehabilitation: Design, Control and Performance Characterization
,” Int. J. Rob. Res.
, 34
(14
), pp. 1747
–1772
.9.
Agarwal
, P.
, and Deshpande
, A. D.
, 2015
, “Impedance and Force-Field Control of the Index Finger Module of a Hand Exoskeleton for Rehabilitation
,” IEEE International Conference on Rehabilitation Robotics
(ICORR
), Singapore, Aug. 11–14, pp. 85
–90
.10.
Emken
, J.
, Bobrow
, J.
, and Reinkensmeyer
, D.
, 2005
, “Robotic Movement Training as an Optimization Problem: Designing a Controller That Assists Only as Needed
,” 9th International Conference on Rehabilitation Robotics
(ICORR 2005
), Chicago, IL, June 28-July 1, pp. 307
–312
.11.
Agarwal
, P.
, Fernandez
, B. R.
, and Deshpande
, A. D.
, 2015
, “Assist-as-Needed Controllers for Index Finger Module of a Hand Exoskeleton for Rehabilitation
,” ASME
Paper No. DSCC2015-9790.12.
Gupta
, A.
, O'Malley
, M. K.
, Patoglu
, V.
, and Burgar
, C.
, 2008
, “Design, Control and Performance of Ricewrist: A Force Feedback Wrist Exoskeleton for Rehabilitation and Training
,” Int. J. Rob. Res.
, 27
(2
), pp. 233
–251
.13.
Zoss
, A. B.
, Kazerooni
, H.
, and Chu
, A.
, 2006
, “Biomechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)
,” IEEE/ASME Trans. Mechatron.
, 11
(2
), pp. 128
–138
.14.
Perry
, J. C.
, Rosen
, J.
, and Burns
, S.
, 2007
, “Upper-Limb Powered Exoskeleton Design
,” IEEE/ASME Trans. Mechatron.
, 12
(4
), pp. 408
–417
.15.
Acosta-Marquez
, C.
, and Bradley
, D.
, 2005
, “The Analysis, Design and Implementation of a Model of an Exoskeleton to Support Mobility
,” 9th IEEE International Conference on Rehabilitation Robotics
(ICORR 2005
), Chicago, IL, June 28-July 1, pp. 99
–102
.16.
Chiri
, A.
, Vitiello
, N.
, Giovacchini
, F.
, Roccella
, S.
, Vecchi
, F.
, and Carrozza
, M.
, 2012
, “Mechatronic Design and Characterization of the Index Finger Module of a Hand Exoskeleton for Post-Stroke Rehabilitation
,” IEEE/ASME Trans. Mechatron.
, 17
(5
), pp. 884
–894
.17.
Wang
, G.
, 2002
, “Definition and Review of Virtual Prototyping
,” ASME J. Comput. Inf. Sci. Eng.
, 2
(3
), pp. 232
–236
.18.
MusculoGraphics
, 2016
, “SIMM Software Suite
,” MusculoGraphics, Inc.
, Santa Rosa, CA
, http://www.musculographics.com19.
Delp
, S.
, Anderson
, F.
, Arnold
, A.
, Loan
, P.
, Habib
, A.
, John
, C.
, Guendelman
, E.
, and Thelen
, D.
, 2007
, “OpenSim: Open-Source Software to Create and Analyze Dynamic Simulations of Movement
,” IEEE Trans. Biomed. Eng.
, 54
(11
), pp. 1940
–1950
.20.
AnyBody Technology
, 2016
, “The AnyBody Modeling System
,” AnyBody Technology A/S, Aalborg, Denmark, http://www.anybodytech.com21.
LifeModeler
, 2016
, “Bringing Simulation to Life
,” LifeModeler Inc., San Clemente, CA, http://www.lifemodeler.com22.
Edmund
, C.
, Robert
, A.
, Hiroaki
, Y.
, Jonathan
, L.
, and Naoki
, H.
, 2007
, “Virtual Interactive Musculoskeletal System (VIMS) in Orthopaedic Research, Education and Clinical Patient Care
,” J. Orthop. Surg. Res.
, 2
(1
), pp. 25
–40
.23.
Agarwal
, P.
, Narayanan
, M.
, Lee
, L.
, Mendel
, F.
, and Krovi
, V.
, 2010
, “Simulation-Based Design of Exoskeletons Using Musculoskeletal Analysis
,” ASME
Paper No. DETC2010-28572.24.
Cho
, K.
, Kim
, Y.
, Yi
, D.
, Jung
, M.
, and Lee
, K.
, 2012
, “Analysis and Evaluation of a Combined Human-Exoskeleton Model Under Two Different Constraints Condition
,” International Summit on Human Simulation
(ISHS
), St. Pete Beach, FL, May 23–25.25.
Zhou
, L.
, Bai
, S.
, Andersen
, M. S.
, and Rasmussen
, J.
, 2015
, “Modeling and Design of a Spring-Loaded, Cable-Driven, Wearable Exoskeleton for the Upper Extremity
,” Model. Identif. Control
, 36
(3
), pp. 167
–177
.26.
Ferrati
, F.
, Bortoletto
, R.
, and Pagello
, E.
, 2013
, “Virtual Modelling of a Real Exoskeleton Constrained to a Human Musculoskeletal Model
,” Biomimetic Biohybrid Syst.
, 8064
, pp. 96
–107
.27.
Agarwal
, P.
, Kuo
, P.
, Neptune
, R. R.
, and Deshpande
, A. D.
, 2013
, “A Novel Framework for Virtual Prototyping of Rehabilitation Exoskeletons
,” IEEE International Conference on Rehabilitation Robotics
, (ICORR
), Seattle, WA, June 24–26.28.
Agarwal
, P.
, Kuo
, P.
, Neptune
, R. R.
, and Deshpande
, A. D.
, 2013
, Integration of Musculoskeletal Analysis With Engineering Design for Virtual Prototyping of Exoskeletons
, American Society of Biomechanics
, Omaha, NE
.29.
Agarwal
, P.
, Hechanova
, A.
, and Deshpande
, A.
, 2013
, “Kinematics and Dynamics of a Biologically Inspired Index Finger Exoskeleton
,” ASME
Paper No. DSCC2013-3893.30.
Hogan
, N.
, 1984
, “Impedance Control: An Approach to Manipulation
,” American Control Conference
(ACC
), San Diego, CA, June 6–8, pp. 304
–313
.31.
Cai
, L. L.
, Fong
, A. J.
, Liang
, Y.
, Burdick
, J.
, and Edgerton
, V. R.
, 2006
, “Assist-as-Needed Training Paradigms for Robotic Rehabilitation of Spinal Cord Injuries
,” IEEE International Conference on Robotics and Automation
(ICRA 2006
), Orlando, FL, May 15–19, pp. 3504
–3511
.32.
Jones
, L. A.
, and Lederman
, S. J.
, 2006
, Human Hand Function
, Oxford University Press
, New York
.33.
Holzbaur
, K.
, Murray
, W.
, Gold
, G.
, and Delp
, S.
, 2007
, “Upper Limb Muscle Volumes in Adult Subjects
,” J. Biomech.
, 40
(4
), pp. 742
–749
.34.
Kuo
, P. H.
, and Deshpande
, A.
, 2012
, “Muscle-Tendon Units Provide Limited Contributions to the Passive Stiffness of the Index Finger Metacarpophalangeal Joint
,” J. Biomech.
, 45
(15
), pp. 2531
–2538
.35.
Deshpande
, A.
, Gialias
, N.
, and Matsuoka
, Y.
, 2012
, “Contributions of Intrinsic Visco-Elastic Torques During Planar Index Finger and Wrist Movements
,” IEEE Trans. Biomed. Eng.
, 59
(2
), pp. 586
–594
.36.
Karnati
, N.
, Kent
, B. A.
, and Engeberg
, E. D.
, 2013
, “Bioinspired Sinusoidal Finger Joint Synergies for a Dexterous Robotic Hand to Screw and Unscrew Objects With Different Diameters
,” IEEE/ASME Trans. Mechatron.
, 18
(2
), pp. 612
–623
.37.
Rijpkema
, H.
, and Girard
, M.
, 1991
, “Computer Animation of Knowledge-Based Human Grasping
,” ACM SIGGRAPH Computer Graphics
, 25
(4
), pp. 339
–348
.38.
An
, K.
, Ueba
, Y.
, Chao
, E.
, Cooney
, W.
, and Linscheid
, R.
, 1983
, “Tendon Excursion and Moment Arm of Index Finger Muscles
,” J. Biomech.
, 16
(6
), pp. 419
–425
.39.
Fowler
, N.
, Nicol
, A.
, Condon
, B.
, and Hadley
, D.
, 2001
, “Method of Determination of Three Dimensional Index Finger Moment Arms and Tendon Lines of Action Using High Resolution MRI Scans
,” J. Biomech.
, 34
(6
), pp. 791
–797
.40.
Martin
, J.
, Latash
, M.
, and Zatsiorsky
, V.
, 2012
, “Effects of the Index Finger Position and Force Production on the Flexor Digitorum Superficialis Moment Arms at the Metacarpophalangeal Joints: A Magnetic Resonance Imaging Study
,” Clin. Biomech.
, 27
(5
), pp. 453
–459
.41.
Snijders
, J.
, Visser
, J.
, Korstanje
, J.
, Selles
, R.
, and Veeger
, H.
, 2011
, “Estimation of In-Vivo Muscle Moment Arms Around the MCP Joint Using Ultrasound
,” Master's thesis, Delft University of Technology, Delft, The Netherlands.42.
Gatti
, C.
, and Hughes
, R.
, 2009
, “Optimization of Muscle Wrapping Objects Using Simulated Annealing
,” Ann. Biomed. Eng.
, 37
(7
), pp. 1342
–1347
.43.
Byrd
, R.
, Hribar
, M.
, and Nocedal
, J.
, 1999
, “An Interior Point Algorithm for Large-Scale Nonlinear Programming
,” SIAM J. Optim.
, 9
(4
), pp. 877
–900
.44.
Thelen
, D.
, and Anderson
, F.
, 2006
, “Using Computed Muscle Control to Generate Forward Dynamic Simulations of Human Walking From Experimental Data
,” J. Biomech.
, 39
(6
), pp. 1107
–1115
.45.
Emery
, A. E.
, 2002
, “The Muscular Dystrophies
,” Lancet
, 359
(9307
), pp. 687
–695
.46.
Stokes
, M.
, and Young
, A.
, 1984
, “The Contribution of Reflex Inhibition to Arthrogenous Muscle Weakness
,” Clin. Sci.
, 67
(1
), pp. 7
–14
.47.
Brand
, P. W.
, and Hollister
, A.
, 1999
, Clinical Mechanics of the Hand
, Mosby
, St. Louis, MO
.48.
Vigouroux
, L.
, Quaine
, F.
, Labarre-Vila
, A.
, and Moutet
, F.
, 2006
, “Estimation of Finger Muscle Tendon Tensions and Pulley Forces During Specific Sport-Climbing Grip Techniques
,” J. Biomech.
, 39
(14
), pp. 2583
–2592
.49.
Wu
, Y.-N.
, Park
, H. S.
, Ren
, Y.
, Gaebler-Spira
, D.
, Chen
, J.-J.
, and Zhang
, L.-Q.
, 2006
, “Measurement of Elbow Spasticity in Stroke Patients Using a Manual Spasticity Evaluator
,” IEEE Engineering in Medicine and Biology Society
(EMBS '06
), New York, Aug. 30–Sept. 3, pp. 3974
–3977
.50.
Peng
, Q.
, Shah
, P.
, Selles
, R. W.
, Gaebler-Spira
, D. J.
, and Zhang
, L.-Q.
, 2004
, “Measurement of Ankle Spasticity in Children With Cerebral Palsy Using a Manual Spasticity Evaluator
,” IEEE Engineering in Medicine and Biology Society
(IEMBS '04
), San Francisco, CA, Sept. 1–5, pp. 4896
–4899
.51.
Page
, P.
, Frank
, C. C.
, and Lardner
, R.
, 2010
, Assessment and Treatment of Muscle Imbalance
, Human Kinetics
, Champaign, IL
.52.
O'Dwyer
, N. J.
, Ada
, L.
, and Neilson
, P. D.
, 1996
, “Spasticity and Muscle Contracture Following Stroke
,” Brain
, 119
(5
), pp. 1737
–1749
.53.
Chao
, E.
, Opgrande
, J.
, and Axmear
, F.
, 1976
, “Three-Dimensional Force Analysis of Finger Joints in Selected Isometric Hand Functions
,” J. Biomech.
, 9
(6
), pp. 387
–396
.54.
Moran
, J. M.
, Hemann
, J. H.
, and Greenwald
, A. S.
, 1985
, “Finger Joint Contact Areas and Pressures
,” J. Orthop. Res.
, 3
(1
), pp. 49
–55
.55.
Milner
, T.
, and Cloutier
, C.
, 1998
, “Damping of the Wrist Joint During Voluntary Movement
,” Exp. Brain Res.
, 122
(3
), pp. 309
–317
.56.
Given
, J.
, Dewald
, J.
, and Rymer
, W.
, 1995
, “Joint Dependent Passive Stiffness in Paretic and Contralateral Limbs of Spastic Patients With Hemiparetic Stroke
,” J. Neurol. Neurosurg. Psychiatry
, 59
(3
), pp. 271
–279
.Copyright © 2016 by ASME
You do not currently have access to this content.
