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dc.contributor.author
Zimmermann, Yves
dc.contributor.author
Sommerhalder, Michael
dc.contributor.author
Wolf, Peter
dc.contributor.author
Riener, Robert
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2023-06-19T11:40:40Z
dc.date.available
2022-12-01T22:45:23Z
dc.date.available
2022-12-02T06:02:03Z
dc.date.available
2022-12-02T13:36:38Z
dc.date.available
2023-02-15T11:23:21Z
dc.date.available
2023-06-19T11:40:40Z
dc.date.issued
2023-06
dc.identifier.issn
1552-3098
dc.identifier.issn
1042-296X
dc.identifier.issn
1941-0468
dc.identifier.other
10.1109/TRO.2022.3226890
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/584411
dc.identifier.doi
10.3929/ethz-b-000584411
dc.description.abstract
We developed an exoskeleton for neurorehabilitation that covered all relevant degrees of freedom of the human arm while providing enough range of motion, speed, strength, and haptic-rendering function for therapy of severely affected (e.g., mobilization) and mildly affected patients (e.g., strength and speed). The ANYexo 2.0, uniting these capabilities, could be the vanguard for highly versatile therapeutic robotics applicable to a broad target group and an extensive range of exercises. Thus, supporting the practical adoption of these devices in clinics. The unique kinematic structure of the robot and the bio-inspired controlled shoulder coupling allowed training for most activities of daily living. We demonstrated this capability with 15 sample activities, including interaction with real objects and the own body with the robot in transparent mode. The robot’s joints can reach 200%, 398%, and 354% of the speed required during activities of daily living at the shoulder, elbow, and wrist, respectively. Further, the robot can provide isometric strength training. We present a detailed analysis of the kinematic properties and propose algorithms for intuitive control implementation.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Robot-Assisted Neurotherapy
en_US
dc.subject
Robotics
en_US
dc.subject
Exoskeleton
en_US
dc.subject
Rehabilitation Robotics
en_US
dc.subject
physical human-robot interaction (pHRI)
en_US
dc.subject
Haptics
en_US
dc.title
ANYexo 2.0: A Fully-Actuated Upper-Limb Exoskeleton for Manipulation and Joint-Oriented Training in all Stages of Rehabilitation
en_US
dc.type
Journal Article
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2023-01-06
ethz.journal.title
IEEE Transactions on Robotics
ethz.journal.volume
39
en_US
ethz.journal.issue
3
en_US
ethz.journal.abbreviated
IEEE Trans. Robot.
ethz.pages.start
2131
en_US
ethz.pages.end
2150
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.identifier.wos
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02070 - Dep. Gesundheitswiss. und Technologie / Dep. of Health Sciences and Technology::03654 - Riener, Robert / Riener, Robert
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02070 - Dep. Gesundheitswiss. und Technologie / Dep. of Health Sciences and Technology::03654 - Riener, Robert / Riener, Robert
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.relation.isCitedBy
10.3929/ethz-b-000608090
ethz.relation.isSupplementedBy
10.3929/ethz-b-000584556
ethz.date.deposited
2022-12-01T22:45:23Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2023-06-19T11:40:46Z
ethz.rosetta.lastUpdated
2024-02-03T00:16:20Z
ethz.rosetta.versionExported
true
ethz.COinS
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