Intention-Controlled Wearable Exoskeleton for Upper Extremity Rehabilitation Using MotionSense Headband

Many existing exoskeletons lack intention-controlled systems, which can significantly impede effective rehabilitation and present challenges in the performance of activities of daily living (ADLs). We present a human-robot interaction (HRI) that allows the wearer to control the upper limb exoskeleton's active joints in real time using head motion. The HRI-based active control empowers the user to perform rehabilitation and ADL tasks confidently and independently. This paper describes the control system strategy and integration of MotionSense Headband (MSHB) with the developed exoskeleton. It also presents the experimental results of an able-bodied subject. The experiment involves the control of the exoskeleton’s three joint motions with the MSHB device, such as shoulder abduction-adduction (AA), elbow flexion-extension (FE), and forearm pronation-supination (PS) respectively. The experimental findings indicate that translating head movements into exoskeleton actions is straightforward and valuable, facilitating smooth and efficient robot control. This strategic approach should enable the user to control the exoskeleton’s joints regardless of the significant prior experience requirement. Integrating intention-controlled modules in the exoskeleton devices could benefit a broad spectrum of users with upper limb joint impairments.