Company/Organization: Rehabilitation and Neuromuscular (ReNeu) Robotics Lab, Cockrell School of Engineering at The University of Texas at Austin
Maker/Developer: Dr. Ashish Deshpande & a team of grad students form the Rehabilitation and Neuromuscular (ReNeu) Robotics Lab.
Purpose: Bilateral upper back/shoulders/arm therapy. Primary focus is for stroke and spinal cord injury patients.
Power Source: External source
Actuator: unknown type x 14
Joints: Scapulae, shoulders, elbows, wrists
Overview: Therapy exoskeletons for arm and shoulder movements are typically designed for use on one side of the body at a time. However, HARMONY is designed to be used for bilateral therapy needs, allowing articulation via 14 actuators with joints in the upper-back (scapulae), shoulders, elbows, and wrist. HARMONY is adjustable for various body sizes, and connects at three different places on each side of the body: two straps on the upper arms, and a bar for each hand to grip.
Special focus was put on ensuring the shoulder motions of HARMONY closely mimicked that of the natural human shoulder movements and range of motion. You can see in the below image, when the patient shrugs hsi shoulders (Right) the shoulder mechanism of HARMONY moves up with him.
HARMONY is designed to feel weightless to the user, but that is a fully adjustable setting based on the individual’s needs. It can provide more or less resistance, and correct a user’s movements if they deviate off a prescribed range of motion.
Computer software is used with HARMONY, taking sensor measurements up to 2000 times per second. This data is used by therapists to monitor and plan a patients progress and ongoing therapy.
Watch the video below, from the Cockrell School of Engineering at UT Austin for a quick demonstration and overview.
Related Publications by ReNeu Robotics Lab
- Understanding the Mechanisms of Scapulohumeral Rhythm with the HARMONY Exoskeleton
- Impedance Control with No Force Sensing in a Rehabilitation Robot
- Mechanical Design of A Wearable Robot for Upper Body Rehabilitation
- Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism
HARMONY rehab Exoskeleton – More articles and releases
ReNeu Robotics Lab – Related research
More on Dr Ashish Deshpande
- UTexas Faculty Page: http://www.me.utexas.edu/faculty/faculty-directory/deshpande
- ReNeu Member Page: https://reneu.robotics.utexas.edu/members/ashish-deshpande
- Noteworthy Publications in 2017
- “Analyzing Achievable Stiffness Control Bounds of Robotic Hands With Compliantly Coupled Finger Joints”, in IEEE International Conference on Robotics and Automation (ICRA), 2017. ,
- “Design, Control and Testing of a Thumb Exoskeleton with Series Elastic Actuation”, International Journal of Robotics Research, 2017. ,
- “Development and validation of modeling framework for interconnected tendon networks in robotic and human fingers”, in IEEE International Conference on Robotics and Automation (ICRA), 2017. ,
- “An EMG-Driven Assistive Hand Exoskeleton for Spinal Cord Injury Patients: Maestro”, in IEEE International Conference on Robotics and Automation (ICRA), 2017. ,
- Noteworthy Publications in 2016
- “Accurate Torque Control of Finger Joints with UT Hand Exoskeleton through Bowden Cable SEA”, in IEEE International Conference on Robotics and Automation (IROS), 2016. ,
- “BloomBot, a Creative and Autonomous Land Art Robot”, in IEEE International Conference on Robotics and Automation (IROS), 2016. ,
- “Control in the Reliable Region of a Statistical Model”, Transactions on Robotics, vol. 32, no. 4, 2016. ,
- “A Novel Framework for Optimizing Motor (Re)-Learning with a Robotic Exoskeleton”, in Biomechanics and Neural Control of Movement (BANCOM), 2016. ,
- “A Simulation Framework for Virtual Prototyping of Robotic Exoskeletons”, Journal of Biomechanical Engineering, vol. 138, no. 6, 2016. ,
- “Understanding the Mechanisms of Scapulohumeral Rhythm with the HARMONY Exoskeleton”, in Biomechanics and Neural Control of Movement (BANCOM), 2016. ,
- More Publications by Dr. Deshpande can be found on the ReNeu publications page.