A hybrid FES-exoskeleton system to rehabilitate the upper limb in disabled people

Coordinator: Tehnical University "Gh. Asachi" Iasi
PCCA: 180/2012

Granted by UEFISCDI

Main Menu

Language Switcher

Login Form


Scientific results


1. Biomechanics design of the upper limb;

2. Technical solutions for the upper limb exoskeleton;

3. FES actuated upper limb model;

4. Proposed actuation and sensorial solutions for the EXOSLIM system;

5. Solutions for the electrophysiological evaluation as biomechanics assessment.

Stage I – EXOSLIM project - Technical solutions 


1. Biomechanical design. Math modeling.

2. Study of the actuation system.

3. Description of hand rehabilitation techniques

4. Description of methods for assessing the process of rehabilitation of the hand.

5. Dissemination of the results

 Analysis and development of upper limb biomechanical models as a first step in developing the EXOSLIM project

The anatomy of the upper limb has been studied and its features have been described. Its biomechanics was investigated too.


Development of upper limb model supposed to be actuated by ES

The skeletal muscles can be also considered as biological engines that consists in contractile muscular fibers which are connected to bones through extensions called ligaments. Their dynamic characteristics related to the producing force property includes: delays in response when is electrical stimulated, nonlinear elasticity, nonlinear dependence of the current state (length and  curtailment  speed of the muscular fiber). Considering the Hill model, the muscle can be described as a visco-elastic element in parallel with a contractile element and in series with elastic elements.

 The math modeling consists in three chapters:

1.the dynamic activation;

2. the dynamics of contraction;

3. the dynamic of the segments.

 Joint mechanics


         The positions where the electrodes can be placed were indentified.


 Exoskeleton operation sistem

      We consider using pneumatic muscles or electric motors each having advantages and disadvantages

Sensorial system

      In the study we analyzed various configurations sensory circuit: Memsic2125, ADXL202, SMB300, H48C, X3M.

 Requirements to optimize the upper limb recovery in hemiplegia. Analysis of electrophysiological evaluation method and biomechanical measurements

     The following procedures are used to assess the upper limb activity in many contexts, both scientifically and in clinical:9 hole peg test, ARAT, AMAT, Purdue Pegboard test, BBT, Chedoke-McMaster Stroke Assessment, Fugl-Meyer test etc.

Dissemination was carried out by means of:

•  Workshop, October 6th, 2012, Technical University of Cluj-Napoca;

•  Workshop, November 15th, 2012, Rehabilitation Clinic Hospital, Cluj-Napoca;

• Papers published by the project team:

   o Chetran, B., Mândru, D., Noveanu, S., Tătar, O., Răducanu, G., Electrorheological Fluid Brake for Active Physiotherapy Systems, Acta Universitatis Sapientiae – Electrical and Mechanical Engineering, vol. 4, 2012 (revista B+);

o Raducanu, G., Raducanu, N., Walking recovery by functional electrical stimulation (FES). Clinical case, Studia Universitatis „Babes-Bolyai” Educatio Artis Gymnasticae Series, dec. 2012 (revista B+);



Who's Online

We have one guest and no members online

Home | Contact

Copyright © 2013. All Rights Reserved IEEIA.