Bioelectronic Hybrid Wrist Exoskeleton:

Design & Performance Analysis

Guide: Mrs. Ch. Mandakini

Asst. Professor, Dept of CSE

Name: Umme Aaiman

Roll No: 23251D5806
TABLE OF 1. NTRODUCTION

CONTENTS 2. LITERATURE SURVEY

3. EXISTING SYSTEMS

4. PROPOSED SYSTEM

5. METHODOLOGY AND MODEL

OPTIMIZATION

6. ANALYSIS AND RESULTS

7. CONCLUSION
 1- INTRODUCTION

1. Stroke survivors often struggle with daily tasks involving

their hands and arms due to issues like muscle weakness,
spasticity & coordination problems limiting their
movement and manipulation abilities.

2. Wrist exoskeletons are increasingly utilized in stroke and

hand dysfunction rehabilitation due to their ability to aid
individuals suffering from stroke in intense, repetitive,
targeted, and interactive training.
2- LITERATURE SURVEY
 3- EXISTING SYSTEMS

WEARABLE THERAPEUTIC ELECTRICAL

MANUAL THERAPY
SENSORS EXERCISES SIMULATION
Devices equipped with sensors, Traditional rehabilitation methods Electrical stimulation techniques Hands-on techniques such as
such as accelerometers and include a range of exercises can be used to activate muscles, massage, joint mobilization, and
gyroscopes, can track wrist aimed at improving wrist improve circulation, and reduce stretching can help improve wrist
movements and provide strength, flexibility, and pain in the wrist area mobility and reduce pain.
feedback to users in real-time. coordination.
 VARIABILITY
3.1 LIMITATIONS OF
One-size-fits-all approaches may not adequately address the unique
EXISTING SYSTEMS needs and abilities of each individual.

TIME CONSUMING
Traditional rehabilitation methods are still practiced but are very time
consuming.

COMPLIANCE & MOTIVATION

Individuals suffering from Dyspraxia may struggle to adhere to
rehabilitation exercises or wearables consistently, impacting the
effectiveness of treatment

COST
High costs associated with advanced rehabilitation technology may
limit access for some individuals or healthcare facilities.
4-PROPOSED SYSTEM

To solve the challenges faced by existing systems, a novel 3-DoF Hr Wrist Exo-Skeleton (HrWE) based on
hybrid series-parallel configuration was proposed. ​
​
In HrWE, a gear set drives the P/S joint, and a 2-DoF parallel mechanism 2-RSS/RR drives the F/E and R/U
joints. Additionally, we introduce a SEMG-based active rehabilitation platform. HrWE offers the following
advantages:
​
1) Customizable - its end-effector can be adapted with a handle or exoglove and easily modified into an upper
limb exoskeleton. ​
​
2) Versatility - HrWE assists users in performing P/S, F/E, and R/U movements, with a workspace fully
encircling the wrist, facilitating better muscle stretching. HrWE is adaptable for both hands and suitable for
most individuals.​
4.1 NOMENCLATURE TO KNOW
 4.2 PROPOSED SYSTEM OVERVIEW

Fig 3: The kinematic features

Fig 2: The manipulability

Fig 1 a-d: The hand function of HrWE
rehabilitation system overview
4.2
​ PROPOSED SYSTEM OVERVIEW cont.
The system consists of the HrWE, control box and human-machine interface.The end-effector of the HrWE can be
attached to a handle or an exoglove, and the 2-RSS/RR configuration can be adapted to the upper limb
exoskeleton.HrWE can assist wrist to perform Flexion/Extension (F/E), Redial/ Ulnar (R/U), and Pronation/
Supination (P/S) movements, and it is suit for both hands. The HrWE can record kinematic features, force and
muscle activities.

NOTE:
Pronation/ Supination (P/S): Proper functioning of the hand relies on its capacity to rotate and point the palm
upward (i.e. supination) or downward (i.e. pronation) when standing up with the elbow in 90° flexion.
Flexion/Extension (F/E): When the palm is bought towards the forearm, it is bent forwards, or anteriorly, it is
defined as flexion. Similarly, when the back of hand is moved towards the forearm, it is bent backwards and
increasing the anterior angle, creating extension.
Redial/ Ulnar Deviation(R/U): Derived from the name of the nerves, The ulnar runs along the outside of your
forearm, closest to your pinky finger. The radial runs along the inside of your forearm, closest to your thumb finger.
4.3 DESIGN OF HrWE

Fig 4: The CAD model of Fig 5: The 2-DoF parallel

HrWE configuration of 2- RSS/RR Fig 6: The configuration
used to actuate F/E and R/U used to actuate P/S join
joints.
 Fig 7:
The handle Fig 8: The connection interface
between HrWE and exoglove.
4.3 DESIGN OVERVIEW cont.
​
A 2-DoF wrist exoskeleton (Fig. 4) is capable of independently or simultaneously actuating P/S, F/E, and R/U
joints. Its mechanical setup includes a base, a 2-DoF parallel configuration 2-RSS/RR for F/E and R/U joints (Fig.
4(b)), and a revolute joint for P/S (Fig. 4(c)). P/S is driven by a DC motor and gear set with a 1:11.76 transmission
ratio. Unlike previous configurations, our 2-RSS/RR uses gear motors for higher control accuracy and smaller size.
​
In the 2-RSS/RR configuration, two RSS branches independently drive F/E and R/U joints using identical DC brush
motors mounted on the base. Joint distances and lengths are optimized for human arm proportions. For user
comfort, a sponge-lined gear and adjustable handle or exoglove placement ensure proper positioning during
rehabilitation.
​
HrWE comprises mechanical, control, and user interaction components. The control system employs a PID strategy
adjusted based on patient parameters and allows emergency shutdown. Unity-based interfaces guide users through
training with visual and auditory cues, enhancing attention and aiding neurological recovery.​
​
​
5 -METHODOLOGY AND MODEL OPTMIZATION

5.1. DECODING ALGORITHM

The spatial-temporal convolutional networks is utilized for gesture recognition (STCN-GR) for decoding movement
intentions. The core of STCN-GR comprises spatial-temporal convolution locks, incorporating both graph
convolution network (GCN) and temporal convolution network (TCN) blocks. To enhance convergence and network
expressiveness, batch normalization (BN) and ReLU layers are applied.

Residual blocks (RBs) with 1 × 1 kernels stabilize training by aligning input and output channels. STCN-GR is
structured with M STCBs, where M = 4 in this study. The number of output channels for each STCB (c1, c2, c3, c4) is
set as 4, 6, 8, and G (number of gestures) respectively. A global average pooling (GAP) layer is added after the last
STCB to enhance generalization and obtain final features, replacing fully connected layers and reducing parameter
count. Optionally, a dropout operation is applied.
5.2 KINEMATICS FOR ANALYSIS

The kinematic performance of P/S joint is determined by the

characteristics of the revolute joint R0 (i.e. Gear1), and the RoM of
P/S is ±90◦.
Based on equation (1),

F = 6(n - p) + ∑(Xi * (fi - f))

the mechanism constitutes a 2-degree-of-freedom (DoF) parallel

configuration, where n represents the number of links, p denotes the
number of joints, fi signifies the DoF of each joint, and f indicates
the local DoF. R1 and R2 serve as active joints, while the
performance of R3 and R4 dictates the attitude angles αF/E and
Fig 9: Schematic diagram of 2-RSS/RR
βR/U.
where R1 and R2 are the active joints.
5.3 EXTENSION TO KINEMATICS
The kinematic performance of the 2-RSS/RR setup is analyzed
using the SOC method, consisting of three distinct chains: SOC1
(R1-S1-S3), SOC2 (R2-S2-S4), SOC3 (R3-R4), and the end-
effector (S3-S4).

To determine the Range of Motion (RoM) of the 2-RSS/RR system,

a numerical solution method was utilized to establish the
connection between the attitude angle and active angle, illustrated
by the closed vector loop in Fig. 10. Fig 10: The vector loop- drive branch RSSR

To assess the impact on the expansion of the R/U joint's RoM, the
relationship between the drive link (Link1 and Link2) and the
extreme reach angle of the R/U joint was calculated, while keeping
the lengths of other links constant.
Fig 11: The vector loop- drive branch RSSR
6. ANALYSIS AND RESULTS

6.1 COORDINATION NUMBER ANALYSIS

The condition number κ serves as a crucial metric for

assessing mechanism dexterity denotes the mechanism
reaching an isotropic state, whereas a κ approaching infinity
indicates proximity to singularity. To ensure adequate
manipulability, κ should closely approach one.

The change process of condition number is relatively gentle

without abrupt peak, and the minimum value of κ is in the
central region, and the value of κ increases gradually with
the expansion of the region. 1/κ in the selected RoM region
is greater than 0.2, indicating that HrWE has good
manipulability Fig 11: Contours of condition number
1/κ in the TWS.
6.2 PRACTICAL RESULTS

Fig 12a: The PMS of left hand in the

uniaxial task

Fig 11: Experimental platform for Fig 12b: The PMS of right hand in
measuring wrist PMS the uniaxial task
Fig 12c: The PMS of left hand in the boundary Fig 12e: The PMS of left hand in the boundary
elliptical movement task. elliptical movement task - device

Fig 12d: The PMS of right hand in the Fig 12f: The PMS of right hand in the
boundary elliptical movement task. boundary elliptical movement task - device
Fig 13 HrWE under different tasks: (a) supination, (b) pronation, (c) extension, (d) flexion, (e) ulnar
deviation, (f) radius deviation, (g) hand open, (h) hand close.
Fig 14 The proposed trajectory (F/E, R/U and Fig15 HrWE torque output
synergistic motion) tracking performance of HrWE measurement and interactive force
on subject 3 during (a) left hand assisted perception evaluation experiments in
movement and (b) right hand assisted movement. (a) F/E, (b) R/U and (c) P/S
Fig 16: The overview of the active
rehabilitation training platform. The
platform consists of the sEMG recording
module, movement intention decoding
module, and the HrWE.
6.3 TABULAR RESULTS

TABLE 1: Capability analysis of HrWE and

other existing models

From results, the conclusion drawn is

that HrWE can assist users to perform P/S, F/E
and R/U movements (see Fig. 1(e)), and
the workspace of HrWE can fully encircle the
PMS of wrist (see Table I). This advantage can
better stretch the wrist muscles. Moreover,
HrWE is versatile in both hands and suitable for
most individuals.
 TABLE 2: Recognition Accuracy

For the experiments, a total 11 participants were considered. Each participant was tasked with
completing two sessions, with each session comprising 200 trials. The outcomes of online
recognition are presented in TABLE 2. Notably, the results indicate that the recognition
accuracy consistently exceeds 96%, with the highest recorded accuracy reaching 98.25%.
 We introduced a bioelectronic-controlled hybrid wrist exoskeleton
named HrWE and evaluated its performance. Our analysis reveals
several advantages:
• HrWE can facilitate individual or simultaneous movements of
F/E, R/U, and P/S. This feature enhances its effectiveness in
rehabilitation training.

• The lightweight 2-RSS/RR configuration enables HrWE's end-

CONCLUSION effector to accommodate finger exoskeletons and its mechanism
to be integrated into upper limb exoskeletons. Additionally,
HrWE is suitable for both hands.

• Users can engage in robot-assisted rehabilitation training using

the sEMG-based paradigm. The human-computer interaction
system fosters better patient engagement.

Overall, HrWE has the potential to supplement therapist efforts and

optimize rehabilitation training paradigms.
THANK YOU!