Biomedical Engineering Seminar: Upper limb exoskeleton control for neurorehabilitation
Old Metallurgy Building
T: (03) 8344 6606
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In 2012 about 50,000 Australians suffered a stroke, and about 65% of them remain with a physical disability. In order to improve the neurorehabilitation efficiency, and the patients recovery, therapists are naturally trying to use new technologies in the rehabilitation process. Robotics systems were thus introduced in the field of neurorehabilitation in the seventies.
This talk will deal with the particular interest of robotics exoskeletons which have the ability to interact with the human limb at several contact points, not only at the hand level. This specific ability constitutes a serious advantage for rehabilitation applications but also bring new problems and more complexity in terms of control. Two new exoskeleton control methods dedicated to neurorehabilitation have thus been developed to fully take advantage of this specific structure. The first one provide a passive mobilization of the patient limb complying with the great variability of the human morphology. The second proposed method aimed to improve the patient quality of movement, correcting his/her joints coordination, while taking into account his/her movement intention. These two methods have been implemented on the ABLE 4-DoF exoskeleton and tested with healthy subjects and 7 hemiparetic patients.