HERCULES: A Three Degree-of-Freedom Pneumatic Upper Limb Exoskeleton for Stroke Rehabilitation

Martin Burns, Zachary Zavoda, Raviraj Nataraj, Kishore Pochiraju, Ramana Vinjamuri

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

This paper outlines the construction, current state, and future goals of HERCULES, a three degree-of-freedom (DoF) pneumatically actuated exoskeleton for stroke rehabilitation. The exoskeleton arm is capable of joint-angle control at the elbow in flexion and extension, at the shoulder in flexion and extension, and at the shoulder in abduction and adduction. In the near future we plan to embed kinematic synergies into the control system architecture of this arm to gain dexterous and near-natural movements.Clinical Relevance - This device can be used as an upper limb rehabilitation testbed for individuals with complete or partial upper limb paralysis. In the future, this system can be used to train individuals on synergy-based rehabilitation protocols.

Original languageEnglish
Title of host publication42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society
Subtitle of host publicationEnabling Innovative Technologies for Global Healthcare, EMBC 2020
Pages4959-4962
Number of pages4
ISBN (Electronic)9781728119908
DOIs
StatePublished - Jul 2020
Event42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020 - Montreal, Canada
Duration: 20 Jul 202024 Jul 2020

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume2020-July
ISSN (Print)1557-170X

Conference

Conference42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020
Country/TerritoryCanada
CityMontreal
Period20/07/2024/07/20

Fingerprint

Dive into the research topics of 'HERCULES: A Three Degree-of-Freedom Pneumatic Upper Limb Exoskeleton for Stroke Rehabilitation'. Together they form a unique fingerprint.

Cite this