The use of an exoskeleton to investigate the self advantage phenomenon.

This paper presents an upper extremity exoskeleton with an original application in neuroscience. The novelty of this study is the investigation of the self-advantage phenomenon under various experimental conditions. Usually this kind of experiments lies only on human visual ability to explicitly and/or implicitly recognize their own arm movements. Using an exoskeleton to replay recorded trajectories allows to give another perspective to the previous studies in including the proprioceptive ability of humans. Twelve healthy subjects were involved in this study. The results show that the self advantage phenomenon is even more present in the implicit tasks.

Gravity compensation of an upper extremity exoskeleton.

This paper presents a new gravity compensation method for an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for post-stroke and injured people without the continuous presence of a therapist. The exoskeleton is a wearable robotic device attached to the human arm. The user provides information signals to the controller by means of the force sensors around the wrist and the arm, and the robot controller generates the appropriate control signals for different training strategies and paradigms. This upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints with three additional adaptability degrees of freedom in order to match the arm anatomy of different users. For comfortable and efficient rehabilitation, a new heuristic method have been studied and applied on our prototype in order to calculate the gravity compensation model without the need to identify the mass parameters. It is based on the geometric model of the robot and accurate torque measurements of the prototype's actuators in a set of specifically chosen joint positions. The weight effect has been successfully compensated so that the user can move his arm freely while wearing the exoskeleton without feeling its mass.