TY - GEN
T1 - HERCULES
T2 - 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020
AU - Burns, Martin
AU - Zavoda, Zachary
AU - Nataraj, Raviraj
AU - Pochiraju, Kishore
AU - Vinjamuri, Ramana
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/7
Y1 - 2020/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85091020218&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85091020218&partnerID=8YFLogxK
U2 - 10.1109/EMBC44109.2020.9176549
DO - 10.1109/EMBC44109.2020.9176549
M3 - Conference contribution
AN - SCOPUS:85091020218
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 4959
EP - 4962
BT - 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society
Y2 - 20 July 2020 through 24 July 2020
ER -