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The design of a five-degree-of-freedom powered orthosis for the upper limb
Open accessAbstract
In response to the need for a sophisticated powered upper-limb orthosis for use by people with disabilities and/or limb weakness or injury, the MULOS (motorized upper-limb orthotic system) has been developed. This is a five-degree-of-freedom electrically powered device having three degrees of freedom at the shoulder, one at the elbow and one to provide pronation/supination. The shoulder mechanism consists of a serial linkage having an equivalent centre of rotation close to that of the anatomical shoulder; this is a self-contained module in which power transmission is provided by tensioned cables. The elbow and pronation/supination modules are also self-contained. The system has been designed to operate under three modes of control: 1. As an assistive robot attached directly to the arm to provide controlled movements for people with severe disability. In this case, it can be operated by a variety of control interfaces, including a specially designed five-degree-of-freedom joystick. 2. Continuous passive motion for the therapy of joints after injury. The trajectory of the joints is selected by ‘walk-through’ programming and can be replayed for a given number of cycles at a chosen speed. 3. As an exercise device to provide strengthening exercises for elderly people or those recovering from injury or surgery. This mode has not been fully implemented at this stage. In assistive mode, prototype testing has demonstrated that the system can provide the movements required for a range of simple tasks and, in continuous passive motion (CPM) mode, the programming system has been successfully implemented. Great attention has been paid to all aspects of safety. Future work is required to identify problems of operation, and to develop new control interfaces.
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“Most of the powered orthoses designed to date are nonambulatory devices [30].”
From Design and Validation of a Rehabilitation Robotic Exoskeleton for Tremor Assessment and Suppression (2007) · cites this paper as [30]
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Cited by
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Design and Validation of a Rehabilitation Robotic Exoskeleton for Tremor Assessment and Suppression
Rocon, E., Belda-Lois, J. M., Ruiz, A. F., Manto, M., Moreno, J. C., & Pons, J. L. (2007) · IEEE Transactions on Neural Systems and Rehabilitation Engineering · doi:10.1109/tnsre.2007.903917 · Cited by 349
Metadata
- Authors
- Johnson, G. R., Carus, D. A., Parrini, G., Marchese, S., & Valeggi, R.
- Affiliations
- Newcastle University (GB)
- University of Dundee (GB)
- Gruppo Scienzia Machinale (Italy) (IT)
- Signo Motus (Italy) (IT)
- Venue
- Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine
- Publisher
- SAGE Publications
- Published
- 2001-03-01
- Volume
- 215
- Issue
- 3
- Pages
- 275-284
- ISSN
- 0954-4119 (ISSN-L)
- 2041-3033
- OpenAlex
- W2111798840
- Cited by
- 91
- References
- 0
- Citations by year
- 2025: 2 · 2024: 3 · 2023: 4 · 2022: 3 · 2021: 4 · 2020: 5 · 2019: 4 · 2018: 9 · 2017: 4 · 2016: 4 · 2015: 3 · 2014: 13 · 2013: 8 · 2012: 4
- FWCI
- 0.64
- Type
- journal article
- Language
- en
- Open access
- green
- doi.org
- Locations
- Proceedings of the Institution of Mechanical Engineers Part H Journal of Engineering in Medicine (publishedVersion)
- PubMed (publishedVersion)
- Discovery Research Portal (University of Dundee) (submittedVersion)
- Strathprints: The University of Strathclyde institutional repository (University of Strathclyde) (submittedVersion)
- Newcastle University ePrints (Newcastle Univesity)
- Funders
- Freie Universität Berlin
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Health Sciences › Medicine › Rehabilitation › Stroke Rehabilitation and Recovery
- Physical Sciences › Engineering › Biomedical Engineering › Muscle activation and electromyography studies
- Keywords
- powered orthosis, upper limb orthosis, five-degree-of-freedom robot, cable-driven actuation, assistive robotics, continuous passive motion, rehabilitation therapy, exercise equipment, safety, limb weakness
- MeSH terms
- Arm, Biomedical Engineering, Equipment Design, Disabled Persons, Persons with Disabilities, Humans, Orthotic Devices, Robotics, Wheelchairs, Range of Motion, Articular
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- CoChat. (2026). Citation check: The design of a five-degree-of-freedom powered orthosis for the upper limb. https://app.cochat.ai/papers/10.1243/0954411011535867
- The paper
- Johnson, G. R., Carus, D. A., Parrini, G., Marchese, S., & Valeggi, R. (2001). The design of a five-degree-of-freedom powered orthosis for the upper limb. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine. https://doi.org/10.1243/0954411011535867
