System Characterization of MAHI EXO-II: A Robotic Exoskeleton for Upper Extremity Rehabilitation

Proc ASME Dyn Syst Control Conf, 2014 · DOI: 10.1115/DSCC2014-6267 · Published: October 1, 2014

Simple Explanation

The paper focuses on the performance evaluation of the MAHI Exo-II, a robotic exoskeleton designed to aid in the rehabilitation of individuals with disabilities affecting their upper extremities, specifically those arising from stroke and spinal cord injury. The MAHI Exo-II targets the rehabilitation of the elbow, forearm, and wrist, aiming to restore the ability to perform daily activities independently. The characterization of the MAHI Exo-II focuses on quantifying how the exoskeleton addresses the key requirements of rehabilitation robots, including static friction, closed-loop bandwidth and spatial resolution.

Study Duration

Not specified

Participants

Not specified

Evidence Level

Not specified

Key Findings

1
The MAHI Exo-II exhibits favorable static friction characteristics, both in magnitude and as a percentage of maximum continuous torque output.
2
The device has capabilities to match healthy human movement; however, future tests could benefit from the utilization of input signals with flat power spectrums, instead of a sine chirp, for more accurate frequency responses.
3
Compared to the RiceWrist-S, the parallel mechanism of the MAHI Exo-II offers lower inertia, viscous coefficient, and static friction, but has reduced torque output and workspace.

Research Summary

This paper presents the performance characterization of the MAHI Exo-II, an upper extremity exoskeleton for stroke and spinal cord injury (SCI) rehabilitation, as a means to validate its clinical implementation. The performance characterization focuses on quantifying how the MAHI Exo-II addresses the four requirements of rehabilitation robots, by investigating first the static friction of the device. The MAHI Exo-II meets the requirements for high performance rehabilitation exoskeletons. In particular, it possesses the workspace, torque outputs and bandwidth to match human capabilities.

Practical Implications

Clinical Validation

The performance characterization validates the MAHI Exo-II for clinical implementation, suggesting it is a suitable platform for rehabilitation.

Design Improvements

Findings suggest future designs should incorporate advanced composites and improved gravity compensation methods.

Comparative Analysis

The characterization provides a basis for comparison with other upper extremity exoskeletons, aiding in future designs and research.

Study Limitations

1
The study does not specify the number of participants or study duration.
2
Future tests could benefit from the utilization of input signals with flat power spectrums, instead of a sine chirp, for more accurate frequency responses.
3
Reduced torque output and workspace compared to RiceWrist-S.

Your Feedback

Was this summary helpful?

Back to Assistive Technology