Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)—A Cable-Based Arm Exoskeleton
Identifieur interne : 003043 ( Ncbi/Merge ); précédent : 003042; suivant : 003044Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)—A Cable-Based Arm Exoskeleton
Auteurs : Ying Mao ; Xin Jin ; Sunil K. AgrawalSource :
- Journal of Mechanisms and Robotics [ 1942-4302 ] ; 2013.
Abstract
In the past few years, the authors have proposed several prototypes of a
Url:
DOI: 10.1115/1.4025926
PubMed: 24895530
PubMed Central: 4023848
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)—A Cable-Based Arm Exoskeleton</title><author><name sortKey="Mao, Ying" sort="Mao, Ying" uniqKey="Mao Y" first="Ying" last="Mao">Ying Mao</name></author><author><name sortKey="Jin, Xin" sort="Jin, Xin" uniqKey="Jin X" first="Xin" last="Jin">Xin Jin</name></author><author><name sortKey="Agrawal, Sunil K" sort="Agrawal, Sunil K" uniqKey="Agrawal S" first="Sunil K." last="Agrawal">Sunil K. Agrawal</name></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">24895530</idno><idno type="pmc">4023848</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4023848</idno><idno type="RBID">PMC:4023848</idno><idno type="doi">10.1115/1.4025926</idno><date when="2013">2013</date><idno type="wicri:Area/Pmc/Corpus">000C39</idno><idno type="wicri:Area/Pmc/Curation">000C39</idno><idno type="wicri:Area/Pmc/Checkpoint">001058</idno><idno type="wicri:Area/Ncbi/Merge">003043</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)—A Cable-Based Arm Exoskeleton</title><author><name sortKey="Mao, Ying" sort="Mao, Ying" uniqKey="Mao Y" first="Ying" last="Mao">Ying Mao</name></author><author><name sortKey="Jin, Xin" sort="Jin, Xin" uniqKey="Jin X" first="Xin" last="Jin">Xin Jin</name></author><author><name sortKey="Agrawal, Sunil K" sort="Agrawal, Sunil K" uniqKey="Agrawal S" first="Sunil K." last="Agrawal">Sunil K. Agrawal</name></author></analytic><series><title level="j">Journal of Mechanisms and Robotics</title><idno type="ISSN">1942-4302</idno><idno type="eISSN">1942-4310</idno><imprint><date when="2013">2013</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>In the past few years, the authors have proposed several prototypes of a <italic>C</italic>able-driven upper <italic>AR</italic>m <italic>EX</italic>oskeleton (<italic>CAREX</italic>) for arm rehabilitation. One of the assumptions of CAREX was that the glenohumeral joint rotation center (GH-c) remains stationary in the inertial frame during motion, which leads to inaccuracy in the kinematic model and may hamper training performance. In this paper, we propose a novel approach to estimate GH-c using measurements of shoulder joint angles and cable lengths. This helps in locating the GH-c center appropriately within the kinematic model. As a result, more accurate kinematic model can be used to improve the training of human users. An estimation algorithm is presented to compute the GH-c in real-time. The algorithm was implemented on the latest prototype of CAREX. Simulations and preliminary experimental results are presented to validate the proposed GH-c estimation method.</p></div></front></TEI><pmc article-type="brief-report"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
<front><journal-meta><journal-id journal-id-type="nlm-ta">J Mech Robot</journal-id><journal-id journal-id-type="iso-abbrev">J Mech Robot</journal-id><journal-id journal-id-type="pmc">JMR</journal-id><journal-title-group><journal-title>Journal of Mechanisms and Robotics</journal-title></journal-title-group><issn pub-type="ppub">1942-4302</issn><issn pub-type="epub">1942-4310</issn><publisher><publisher-name>American Society of Mechanical Engineers</publisher-name></publisher></journal-meta><article-meta><article-id pub-id-type="pmid">24895530</article-id><article-id pub-id-type="pmc">4023848</article-id><article-id pub-id-type="doi">10.1115/1.4025926</article-id><article-id pub-id-type="coden">JMROA6</article-id><article-id pub-id-type="publisher-id">JMR-12-1017</article-id><article-id pub-id-type="publisher-manuscript">JMR-12-1017</article-id><article-categories><subj-group subj-group-type="heading"><subject>Technical Brief</subject></subj-group></article-categories><title-group><article-title>Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)—A Cable-Based Arm Exoskeleton</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Mao</surname><given-names>Ying</given-names></name><xref ref-type="corresp" rid="cor2"><sup>2</sup></xref><aff><institution>GE Global Research</institution>,<break></break><addr-line>1 Research Circle</addr-line>,<break></break><addr-line>Niskayuna, NY 12309</addr-line><break></break>e-mail: <email>yingmao@ge.com</email></aff></contrib><contrib contrib-type="author"><name><surname>Jin</surname><given-names>Xin</given-names></name><aff>Department of Mechanical Engineering,<break></break><institution>Columbia University</institution>,<break></break>New York, NY 10027<break></break>e-mail: <email>xj2146@columbia.edu</email></aff></contrib><contrib contrib-type="author"><name><surname>Agrawal</surname><given-names>Sunil K.</given-names></name><xref ref-type="corresp" rid="cor1"><sup>1</sup></xref><aff>Professor<break></break>Department of Mechanical Engineering,<break></break><institution>Columbia University</institution>,<break></break><addr-line>New York, NY 10027</addr-line><break></break>e-mail: <email>Sunil.Agrawal@columbia.edu</email></aff></contrib></contrib-group><author-notes><corresp id="cor1"><label>1</label>Corresponding author.</corresp><corresp id="cor2"><label>2</label>Ying Mao is currently affiliated with GE Global Research. All work presented in this paper was completed prior to joining GE at University of Delaware.</corresp><fn fn-type="other"><p>Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J<sc>OURNAL OF</sc> M<sc>ECHANISMS AND</sc> R<sc>OBOTICS</sc>. Manuscript received February 21, 2012; final manuscript received September 26, 2013; published online December 27, 2013. Assoc. Editor: Kazem Kazerounian.</p></fn></author-notes><pub-date pub-type="ppub"><month>2</month><year>2014</year></pub-date><pub-date pub-type="epub"><day>27</day><month>12</month><year>2013</year></pub-date><volume>6</volume><issue>1</issue><fpage>0145021</fpage><lpage>0145025</lpage><history><date date-type="received"><day>21</day><month>2</month><year>2012</year></date><date date-type="rev-recd"><day>26</day><month>9</month><year>2013</year></date></history><permissions><copyright-statement>Copyright © 2014 by ASME</copyright-statement><copyright-year>2014</copyright-year><license license-type="ccc"><license-p>1942-4302/2014/6(01)/014502/5/<price>$0.00</price></license-p></license></permissions><self-uri xlink:title="pdf" xlink:type="simple" xlink:href="jmr_12_1017_014502.pdf"></self-uri><abstract abstract-type="short"><p>In the past few years, the authors have proposed several prototypes of a <italic>C</italic>able-driven upper <italic>AR</italic>m <italic>EX</italic>oskeleton (<italic>CAREX</italic>) for arm rehabilitation. One of the assumptions of CAREX was that the glenohumeral joint rotation center (GH-c) remains stationary in the inertial frame during motion, which leads to inaccuracy in the kinematic model and may hamper training performance. In this paper, we propose a novel approach to estimate GH-c using measurements of shoulder joint angles and cable lengths. This helps in locating the GH-c center appropriately within the kinematic model. As a result, more accurate kinematic model can be used to improve the training of human users. An estimation algorithm is presented to compute the GH-c in real-time. The algorithm was implemented on the latest prototype of CAREX. Simulations and preliminary experimental results are presented to validate the proposed GH-c estimation method.</p></abstract><counts><page-count count="5"></page-count></counts></article-meta></front></pmc><affiliations><list></list><tree><noCountry><name sortKey="Agrawal, Sunil K" sort="Agrawal, Sunil K" uniqKey="Agrawal S" first="Sunil K." last="Agrawal">Sunil K. Agrawal</name><name sortKey="Jin, Xin" sort="Jin, Xin" uniqKey="Jin X" first="Xin" last="Jin">Xin Jin</name><name sortKey="Mao, Ying" sort="Mao, Ying" uniqKey="Mao Y" first="Ying" last="Mao">Ying Mao</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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