User Based Development and Test of the EXOTIC Exoskeleton: Empowering Individuals with Tetraplegia Using a Compact, Versatile, 5-DoF Upper Limb Exoskeleton Controlled through Intelligent Semi-Automated Shared Tongue Control
Mikkel Berg Thøgersen,
Mostafa Mohammadi,
Muhammad Ahsan Gull,
Stefan Hein Bengtson,
Frederik Victor Kobbelgaard,
Bo Bentsen,
Benjamin Yamin Ali Khan,
Kåre Eg Severinsen,
Shaoping Bai,
Thomas Bak,
Thomas Baltzer Moeslund,
Anne Marie Kanstrup,
Lotte N. S. Andreasen Struijk
Affiliations
Mikkel Berg Thøgersen
Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, Denmark
Mostafa Mohammadi
Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, Denmark
Muhammad Ahsan Gull
Department of Materials and Production Technology, Aalborg University, 9220 Aalborg, Denmark
Stefan Hein Bengtson
Visual Analysis and Perception (VAP) Lab, Department of Architecture, Design, and Media Technology, Aalborg University, 9000 Aalborg, Denmark
Frederik Victor Kobbelgaard
Department of Planning, Aalborg University, 9000 Aalborg, Denmark
Bo Bentsen
Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, Denmark
Benjamin Yamin Ali Khan
Spinal Cord Injury Centre of Western Denmark, Viborg Regional Hospital, 8800 Viborg, Denmark
Kåre Eg Severinsen
Spinal Cord Injury Centre of Western Denmark, Viborg Regional Hospital, 8800 Viborg, Denmark
Shaoping Bai
Department of Materials and Production Technology, Aalborg University, 9220 Aalborg, Denmark
Thomas Bak
Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark
Thomas Baltzer Moeslund
Visual Analysis and Perception (VAP) Lab, Department of Architecture, Design, and Media Technology, Aalborg University, 9000 Aalborg, Denmark
Anne Marie Kanstrup
Department of Planning, Aalborg University, 9000 Aalborg, Denmark
Lotte N. S. Andreasen Struijk
Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, Denmark
This paper presents the EXOTIC- a novel assistive upper limb exoskeleton for individuals with complete functional tetraplegia that provides an unprecedented level of versatility and control. The current literature on exoskeletons mainly focuses on the basic technical aspects of exoskeleton design and control while the context in which these exoskeletons should function is less or not prioritized even though it poses important technical requirements. We considered all sources of design requirements, from the basic technical functions to the real-world practical application. The EXOTIC features: (1) a compact, safe, wheelchair-mountable, easy to don and doff exoskeleton capable of facilitating multiple highly desired activities of daily living for individuals with tetraplegia; (2) a semi-automated computer vision guidance system that can be enabled by the user when relevant; (3) a tongue control interface allowing for full, volitional, and continuous control over all possible motions of the exoskeleton. The EXOTIC was tested on ten able-bodied individuals and three users with tetraplegia caused by spinal cord injury. During the tests the EXOTIC succeeded in fully assisting tasks such as drinking and picking up snacks, even for users with complete functional tetraplegia and the need for a ventilator. The users confirmed the usability of the EXOTIC.
