Designing Unpowered Shoulder Complex Exoskeleton via Contralateral Drive for Self-rehabilitation of Post-stroke Hemiparesis

1. GBD 2019 Stroke Collaborators. (2021). Global, regional, and national burden of stroke and its risk factors, 1990–2019: A systematic analysis for the global burden of disease study 2019. The Lancet Neurology, 20(10), 795. https://doi.org/10.1016/S1474-4422(21)00252-010.1016/S1474-4422(21)00252-0 ↗

2. Lin, X. R., Wang, H. X., Rong, X. M., Huang, R. X., & Peng, Y. (2021). Exploring stroke risk and prevention in China: Insights from an outlier. Aging (Albany NY), 13(11), 15659–15673. https://doi.org/10.18632/aging.20309610.18632/aging.203096 ↗

3. World Health Organization (WHO) (2020). Global health estimates 2020: Deaths by cause, age, sex, by country and by region, 2000–2019. World Health Organization, Geneva. http://who.int/data/gho/data/themes/mortality-and-global-health-estimates/ghe-leading-causes-of-death

4. Mukherjee, D., & Patil, C. G. (2011). Epidemiology and the global burden of stroke. World Neurosurgery, 76(6 Suppl), S85-90. https://doi.org/10.1016/j.wneu.2011.07.02310.1016/j.wneu.2011.07.023 ↗

5. Reinkensmeyer, D. J., Leonard, E. K., Averbuch, M., McKenna-Cole, A., Schmit, B. D., & Rymer, W. Z. (2014). Understanding and treating arm movement impairment after chronic brain injury: Progress with the ARM guide. Journal of Rehabilitation Research and Development, 37(6), 653–662.

6. Miller, E. (2008). Assessment of the effectiveness of early post-stroke rehabilitation. Wiadomosci Lekarskie (Warsaw, Poland: 1960), 61(10–12), 252–257.

7. Gorgey, A. S., Sumrell, R., & Goetz, L. L. (2018). Exoskeletal assisted rehabilitation after spinal cord injury. In Atlas of orthoses and assistive devices (5th ed., pp. 440–447.e2). Elsevier. https://doi.org/10.1016/B978-0-323-48323-0.00044-510.1016/B978-0-323-48323-0.00044-5 ↗

8. Lum, P. S., Burgar, C. G., & Shor, P. C. (2004). Evidence for improved muscle activation patterns after retraining of reaching movements with the MIME robotic system in subjects with post-stroke hemiparesis. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 12(2), 186–194. https://doi.org/10.1109/TNSRE.2004.82722510.1109/TNSRE.2004.827225 ↗

9. Pan, C. T., Chang, C. C., Yang, Y. S., Yen, C. K., Liu, C. C., Lee, C. L., & Shiue, Y. L. (2020). Development a multi-loop modulation method on the servo drives for lower limb rehabilitation exoskeleton. Mechatronics, 68, 102360. https://doi.org/10.1016/j.mechatronics.2020.10236010.1016/j.mechatronics.2020.102360 ↗

10. Okamura, J., Tanaka, H. & Sankai, Y. (1999). EMG-based prototype powered assistive system for walking aid. In Proc. Asian Symposium on Industrial Automation and Robotics (ASIAR’99), Bangkok, Thailand (pp. 229–234).

11. Kazerooni, H., Chu, A., & Steger, R. (2007). That which does not stabilize, will only make us stronger. The International Journal of Robotics Research, 26(1), 75–89. https://doi.org/10.1177/027836490707447210.1177/0278364907074472 ↗

12. Cerasa, A., Pignolo, L., Gramigna, V., Serra, S., Olivadese, G., Rocca, F., Perrotta, P., Dolce, G., Quattrone, A., & Tonin, P. (2018). Exoskeleton-robot assisted therapy in stroke patients: a lesion mapping study. Frontiers in NeuroinFormatics, 12, 44. https://doi.org/10.3389/fninf.2018.0004410.3389/fninf.2018.00044 ↗

13. Huang, J., Tu, X. K., & He, J. P. (2015). Design and evaluation of the RUPERT wearable upper extremity exoskeleton robot for clinical and in-home therapies. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 46(7), 926–935. https://doi.org/10.1109/TSMC.2015.249720510.1109/TSMC.2015.2497205 ↗

14. Otten, A., Voort, C., Stienen, A., Aarts, R., Asseldonk, E. V., & van der Kooij, H. (2015). LIMPACT: A hydraulically powered self-aligning upper limb exoskeleton. IEEE/ASME Transactions on Mechatronics, 20(5), 2285–2298. https://doi.org/10.1109/TMECH.2014.237527210.1109/TMECH.2014.2375272 ↗

15. Kim, B., & Deshpande, A. D. (2017). An upper-body rehabilitation exoskeleton Harmony with an anatomical shoulder mechanism: Design, modeling, control, and performance evaluation. The International Journal of Robotics Research, 36(4), 414–435. https://doi.org/10.1177/027836491770674310.1177/0278364917706743 ↗

16. Keller, U., van Hedel, H. J. A., Klamroth-Marganska, V., & Riener, R. (2016). ChARMin: The first actuated exoskeleton robot for pediatric arm rehabilitation. IEEE/ASME Transactions on Mechatronics, 21(5), 2201–2213. https://doi.org/10.1109/TMECH.2016.255979910.1109/TMECH.2016.2559799 ↗

17. Klein, J., Spencer, S., Allington, J., Bobrow, J. E., & Reinkensmeyer, D. J. (2010). Optimization of a parallel shoulder mechanism to achieve a high-force, low-mass, robotic-arm exoskeleton. IEEE Transactions on Robotics, 26(4), 710–715. https://doi.org/10.1109/TRO.2010.205217010.1109/TRO.2010.2052170 ↗

18. Wang, D. J., Meng, Q. Y., Meng, Q. L., Li, X. W., & Yu, H. L. (2018). Design and development of a portable exoskeleton for hand rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 26, 2376–2386. https://doi.org/10.1109/TNSRE.2018.287877810.1109/TNSRE.2018.2878778 ↗

19. Witkowski, M., Gómez, C., Opisso, E., Medina, J., Cortese, M., Cempini, M., Carrozza, M. C., Cohen, L. G., Birbaumer, N., & Vitiello, N. (2016). Hybrid EEG/EOG-based brain/neural hand exoskeleton restores fully independent daily living activities after quadriplegia. Science Robotics, 1, eaag3296. https://doi.org/10.1126/scirobotics.aag329610.1126/scirobotics.aag3296 ↗

20. Kang, B. B., Choi, H., Lee, H., & Cho, K. J. (2019). Exo-glove poly ii: A polymer-based soft wearable robot for the hand with a tendon-driven actuation system. Soft Robotics, 6(2), 214–227. https://doi.org/10.1089/soro.2018.000610.1089/soro.2018.0006 ↗

21. Lessard, S., Pansodtee, P., Robbins, A., Trombadore, J. M., Kurniawan, S., & Teodorescu, M. (2018). A soft exosuit for flexible upper-extremity rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 26(8), 1604–1617. https://doi.org/10.1109/TNSRE.2018.285421910.1109/TNSRE.2018.2854219 ↗

22. Asbeck, A. T., Rossi, S. M. M. D., Holt, K. G., & Walsh, C. J. (2015). A biologically inspired soft exosuit for walking assistance. The International Journal of Robotics Research, 34, 744–762. https://doi.org/10.1177/027836491456247610.1177/0278364914562476 ↗

23. Kim, J., Lee, G., Heimgartner, R., Revi, D. A., Karavas, N., Nathanson, D., Galiana, I., Eckert-Erdheim, A., Murphy, P., Perry, D., Menard, N., Choe, D. K., Malcolm, P., & Walsh, C. J. (2019). Reducing the metabolic rate of walking and running with a versatile, portable exosuit. Science, 365(6454), 668–672. https://doi.org/10.1126/science.aav753610.1126/science.aav7536 ↗

24. Kang, B. B., Choi, H., Lee, H., & Cho, K. J. (2018). Human-in-the-loop optimization of hip assistance with a soft exosuit during walking. Science Robotics, 6(2), 214–227. https://doi.org/10.1089/soro.2018.000610.1089/soro.2018.0006 ↗

25. Li, N., Yang, T., Yu, P., Chang, J. L., Zhao, L., Zhao, X. G., Elhajj, H. I., Xi, N., & Liu, L. Q. (2018). Bio-inspired upper limb soft exoskeleton to reduce stroke-induced complications. Bioinspiration & Biomimetics, 13(6), 066001. https://doi.org/10.1088/1748-3190/aad8d410.1088/1748-3190/aad8d4 ↗

26. Li, N., Yang, T., Yang, Y., Yu, P., Xue, X. J., Zhao, X. G., Song, G. L., Elhajj, H. I., Wang, W. X., Xi, N., & Liu, L. Q. (2020). Bioinspired musculoskeletal model-based soft wrist exoskeleton for stroke rehabilitation. Journal of Bionic Engineering, 17, 1163–1174. https://doi.org/10.1007/s42235-020-0101-910.1007/s42235-020-0101-9 ↗

27. Aguirre-Ollinger, G., Colgate, J. E., Peshkin, M. A., & Goswami, A. (2011). Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation. The International Journal of Robotics Research, 30(4), 486–499. https://doi.org/10.1177/027836491038573010.1177/0278364910385730 ↗

28. Zhang, J. J., Fiers, P., Witte, A. K., Jackson, W. R., Poggensee, L. K., Atkeson, G. C., & Collins, H. S. (2017). Human-in-the-loop optimization of exoskeleton assistance during walking. Science, 356(6344), 1280–1284. https://doi.org/10.1126/science.aal505410.1126/science.aal5054 ↗

29. Ajjanaromvat, N., & Parnichkun, M. (2018). Trajectory tracking using online learning LQR with adaptive learning control of a leg-exoskeleton for disorder gait rehabilitation. Mechatronics, 51, 85–96. https://doi.org/10.1016/j.mechatronics.2018.03.00310.1016/j.mechatronics.2018.03.003 ↗

30. Collins, S. H., Wiggin, M. B., & Sawicki, G. S. (2015). Reducing the energy cost of human walking using an unpowered exoskeleton. Nature, 522, 212–215. https://doi.org/10.1038/nature1428810.1038/nature14288 ↗

31. Yandell, M. B., Tacca, J. R., & Zelik, K. E. (2019). Design of a low profile, unpowered ankle exoskeleton that fits under clothes: overcoming practical barriers to widespread societal adoption. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 27(4), 712–723. https://doi.org/10.1109/TNSRE.2019.290492410.1109/TNSRE.2019.2904924 ↗

32. Nasiri, R., Ahmadi, A., & Ahmadabadi, M. N. (2008). Reducing the energy cost of human running using an unpowered exoskeleton. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 26(10), 2026–2032. https://doi.org/10.1109/TNSRE.2018.287288910.1109/TNSRE.2018.2872889 ↗

33. Donelan, J. M., Li, Q., Naing, V., Hoffer, J. A., Weber, D. J., & Kuo, A. D. (2008). Biomechanical energy harvesting: generating electricity during walking with minimal user effort. Science, 319(5864), 807–810. https://doi.org/10.1126/science.114986010.1126/science.1149860 ↗

34. De Vries, A. W., Murphy, M. S., Könemann, R., Kingma, I., & de Looze, M. (2019). The amount of support provided by a passive arm support exoskeleton in a range of elevated arm postures. IISE Transactions on Occupational Ergonomics and Human Factors, 7, 311–321. https://doi.org/10.1080/24725838.2019.166973610.1080/24725838.2019.1669736 ↗

35. Huysamen, K., Bosch, T., de Looze, M., Stadler, K. S., Graf, E., & Sullivan, L. W. O. ’. (2018). Evaluation of a passive exoskeleton for static upper limb activities. Applied Ergonomics, 70, 148–155.10.1016/j.apergo.2018.02.009 ↗

36. Huysamen, K., Bosch, T., de Looze, M., Stadler, K. S., Graf, E., & Sullivan, L. W. O. ’. (2017). Investigation into the applicability of a passive upper-limb exoskeleton in automotive industry. Procedia Manufacturing, 11, 1255–1262. https://doi.org/10.1016/j.apergo.2018.02.00910.1016/j.apergo.2018.02.009 ↗

37. Sutrisno, A., & Braun, D. J. (2020). How to run 50% faster without external energy. Science Advances, 6(13), eaay1950. https://doi.org/10.1126/sciadv.aay195010.1126/sciadv.aay1950 ↗

38. Granados, D. F. P., Kadone, H. & Suzuki, K. (2018). Unpowered lower-body exoskeleton with torso lifting mechanism for supporting sit-to-stand transitions. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain (pp. 2755–2761). https://doi.org/10.1109/IROS.2018.859419910.1109/IROS.2018.8594199 ↗

39. Rahman, T., Sample, W., Jayakumar, S., King, M. M., Wee, J. Y., Seliktar, R., Alexander, M., Scavina, M., & Clark, A. (2006). Passive exoskeletons for assisting limb movement. Journal of Rehabilitation Research and Development, 43(5), 583. https://doi.org/10.1682/jrrd.2005.04.007010.1682/jrrd.2005.04.0070 ↗

40. Guan. X.Y., Kuai, S., Song, L., Li, C,, Liu, W, F., Liu, Y. L., Ji, L. H., Wang, R. C., & Zhang, Z. Q. (2019). How height and weight of patients with spinal cord injury affect the spring locations of unpowered energy-stored exoskeleton. In 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Berlin, Germany (pp. 4449–4453). https://doi.org/10.1109/EMBC.2019.885760310.1109/EMBC.2019.8857603 ↗

41. Jensen, E. F., Raunsbæk, J., Lund, J. N., Tariq, R., John, R., & Miguel, N. C. (2018). Development and simulation of a passive upper extremity orthosis for amyoplasia. Journal of Rehabilitation and Assistive Technologies Engineering, 5, 2055668318761525. https://doi.org/10.1177/205566831876152510.1177/2055668318761525 ↗

42. Klauer, C., Schauer, T., Reichenfelser, W., Karner, J., Zwicker, S., Gandolla, M., Ambrosini, E., Ferrante, S., Hack, M., Jedlitschka, A., Duschau-Wicke, A., Gföhler, M., & Pedrocchi, A. (2014). Feedback control of arm movements using neuro-muscular electrical stimulation (NMES) combined with a lockable, passive exoskeleton for gravity compensation. Frontiers in Neuroscience, 8, 262. https://doi.org/10.3389/fnins.2014.0026210.3389/fnins.2014.00262 ↗

43. Guan, X. Y., Ji, L. H., Wang, R. H., & Huang, W. J. (2016). Optimization of an unpowered energy-stored exoskeleton for patients with spinal cord injury. In 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, FL, USA (pp. 5030–5033). https://doi.org/10.1109/EMBC.2016.759185710.1109/EMBC.2016.7591857 ↗

44. Stienen, A. H. A., EdskoHekman, E. G., Prange, G. B., Jannink, M. J. A., van der Helm, F. C. T., & van der Kooij, H. (2009). Freebal: Design of a dedicated weight-support system for upper-extremity rehabilitation. Journal of Medical Devices, 3(4), 041009. https://doi.org/10.1115/1.400049310.1115/1.4000493 ↗

45. Kim, B. & Ashish, D. D. (2015). Controls for the shoulder mechanism of an upper-body exoskeleton for promoting scapulohumeral rhythm. In IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore (pp. 538–542). https://doi.org/10.1109/ICORR.2015.728125510.1109/ICORR.2015.7281255 ↗

46. Jung, Y., & Bae, J. (2015). Kinematic analysis of 5-DOF upper-limb exoskeleton with a tilted and vertically translating shoulder joint. IEEE/ASME Transactions on Mechatronics, 20(3), 1428–1439. https://doi.org/10.1109/TMECH.2014.234676710.1109/TMECH.2014.2346767 ↗

47. Kim, H., Miller, L. M., Byl, N., Abrams, G. M., & Rosen, J. (2012). Redundancy resolution of the human arm and an upper limb exoskeleton. IEEE Transactions on Biomedical Engineering, 59(6), 1770–1779. https://doi.org/10.1109/TBME.2012.219448910.1109/TBME.2012.2194489 ↗

48. Culham, E., & Peat, M. (1993). Functional anatomy of the shoulder complex. Journal of Orthopaedic & Sports Physical Therapy, 18(12), 342–350. https://doi.org/10.1093/ptj/66.12.185510.1093/ptj/66.12.1855 ↗

49. Ludewig, P. M., Phadke, V., Braman, J. P., Hassett, D. R., Cieminski, C. J., & LaPrade, R. F. (2009). Motion of the shoulder complex during multiplanar humeral elevation. The Journal of Bone and Joint Surgery, 91(2), 378. https://doi.org/10.2106/JBJS.G.0148310.2106/JBJS.G.01483 ↗

50. Agarwal, P., Fox, J., Yun, Y., O’Malley, M. K., & Deshpande, A. D. (2015). An index finger exoskeleton with series elastic actuation for rehabilitation: Design, control and performance characterization. The International Journal of Robotics Research, 34(14), 1747–1772. https://doi.org/10.1177/027836491559838810.1177/0278364915598388 ↗

51. Lempereur, M., Brochard, S., Leboucher, J., Leboeuf, F., Rémy-Néris, O., & Borotikar, B. (2019). Effects of gleno-humeral joint centre mislocation on gleno-humeral kinematics and kinetics. Computer Methods in Biomechanics & Biomedical Engineering, 22(7), 764–771. https://doi.org/10.1080/10255842.2019.159082210.1080/10255842.2019.1590822 ↗

52. Illyés, Á., & Kiss, R. M. (2007). Shoulder joint kinematics during elevation measured by ultrasound-based measuring system. Journal of Electromyography and Kinesiology, 17(3), 355–364. https://doi.org/10.1016/j.jelekin.2006.02.00410.1016/j.jelekin.2006.02.004 ↗

53. Amabile, C., Bull, A. M. J., & Kedgley, A. E. (2016). The centre of rotation of the shoulder complex and the effect of normalisation. Journal of Biomechanics, 49(9), 1938–1943. https://doi.org/10.1016/j.jbiomech.2016.03.03510.1016/j.jbiomech.2016.03.035 ↗

54. Veeger, H. (2000). The position of the rotation center of the glenohumeral joint. Journal of Biomechanics, 33(12), 1711–1715. https://doi.org/10.1016/S0021-9290(00)00141-X10.1016/S0021-9290(00)00141-X ↗