Mechanical design, simulation and nonlinear control of a new exoskeleton robot for use in upper-limb rehabilitation after stroke

2013 ◽  
Author(s):  
Mahdieh Babaiasl ◽  
Ahmad Ghanbari ◽  
Seyyed Mohhamad Reza Noorani
Keyword(s):  
Nonlinear Control ◽  
Upper Limb ◽  
Mechanical Design ◽  
Upper Limb Rehabilitation ◽  
Exoskeleton Robot ◽  
Limb Rehabilitation

scholarly journals Diseño mecánico de un exoesqueleto para rehabilitación de miembro superior

2015 ◽  
Vol 17 (1) ◽  
pp. 79-90 ◽  
Author(s):  
Juan Francisco Ayala Lozano ◽  
Guillermo Urriolagoitia Sosa ◽  
Beatriz Romero Ángeles ◽  
Christopher René Torres San-Miguel ◽  
Luis Antonio Aguilar-Pérez ◽  
...  
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Low Cost ◽  
Structure Design ◽  
Upper Limb Rehabilitation ◽  
Palabras Clave ◽  
Mexican Patient ◽  
Almost All ◽  
Limb Rehabilitation

<strong>Título en ingles: Mechanical design of an exoskeleton for upper limb rehabilitation</strong><p><strong>Título corto: Diseño mecánico de un exoesqueleto</strong></p><p><strong>Resumen:</strong> El ritmo de vida actual, tanto sociocultural como tecnológico, ha desembocado en un aumento de enfermedades y padecimientos que afectan las capacidades físico-motrices de los individuos. Esto ha originado el desarrollo de prototipos para auxiliar al paciente a recuperar la movilidad y la fortaleza de las extremidades superiores afectadas. El presente trabajo aborda el diseño de una estructura mecánica de un exoesqueleto con 4 grados de libertad para miembro superior. La cual tiene como principales atributos la capacidad de ajustarse a la antropometría del paciente mexicano (longitud del brazo, extensión del antebrazo, condiciones geométricas de la espalda y altura del paciente). Se aplicó el método <em>BLITZ QFD</em> para obtener el diseño conceptual óptimo y establecer adecuadamente las condiciones de carga de servicio. Por lo que, se definieron 5 casos de estudio cuasi-estáticos e implantaron condiciones para rehabilitación de los pacientes. Asimismo, mediante el Método de Elemento Finito (MEF) se analizaron los esfuerzos y deformaciones a los que la estructura está sometida durante la aplicación de los agentes externos de servicio. Los resultados presentados en éste trabajo exhiben una nueva propuesta para la rehabilitación de pacientes con problemas de movilidad en miembro superior. Donde el equipo propuesto permite la rehabilitación del miembro superior apoyado en 4 grados de libertad (tres grados de libertad en el hombro y uno en el codo), el cual es adecuado para realizar terapias activas y pasivas. Asimismo, es un dispositivo que está al alcance de un mayor porcentaje de la población por su bajo costo y fácil desarrollo en la fabricación.</p><p><strong>Palabras clave:</strong> MEF, Blitz QFD, exoesqueletos, diseño mecánico.</p><p><strong>Abstract</strong>: The pace of modern life, both socio-cultural and technologically, has led to an increase of diseases and conditions that affect the physical-motor capabilities of persons. This increase has originated the development of prototypes to help patients to regain mobility and strength of the affected upper limb. This work, deals with the mechanical structure design of an exoskeleton with 4 degrees freedom for upper limb. Which has the capacity to adjust to the Mexican patient anthropometry (arm length, forearm extension, geometry conditions of the back and the patient’s height) BLITZ QFD method was applied to establish the conceptual design and loading service conditions on the structure.  So, 5 quasi-static cases of study were defined and conditions for patient rehabilitation were subjected. Also by applying the finite element method the structure was analyzed due to service loading. The results presented in this work, show a new method for patient rehabilitation with mobility deficiencies in the upper limb. The proposed new design allows the rehabilitation of the upper limb under 4 degrees of freedom (tree degrees of freedom at shoulder and one at the elbow), which is perfect to perform active and passive therapy. Additionally, it is an equipment of low cost, which can be affordable to almost all the country population.</p><p><strong>Key words:</strong> FEM, Blitz QFD, exoskeletons, mechanical design<strong>.</strong></p><p><strong>Recibido:</strong> agosto 20 de 2014   <strong>Aprobado:</strong> marzo 26 de 2015</p>

scholarly journals System Framework of Robotics in Upper Limb Rehabilitation on Poststroke Motor Recovery

2018 ◽  
Vol 2018 ◽  
pp. 1-14 ◽  
Author(s):  
Kai Zhang ◽  
Xiaofeng Chen ◽  
Fei Liu ◽  
Haili Tang ◽  
Jing Wang ◽  
...  
Keyword(s):  
Upper Limb ◽  
Mechanical Design ◽  
Control Strategies ◽  
Functional Mobility ◽  
Current Status ◽  
Clinical Effects ◽  
Repetitive Movement ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Robots ◽  
Limb Rehabilitation

Neurological impairments such as stroke cause damage to the functional mobility of survivors and affect their ability to perform activities of daily living. Recently, robotic treatment for upper limb stroke rehabilitation has received significant attention because it can provide high-intensity and repetitive movement therapy. In this review, the current status of upper limb rehabilitation robots is explored. Firstly, an overview of mechanical design of robotics for upper-limb rehabilitation and clinical effects of part robots are provided. Then, the comparisons of human-machine interactions, control strategies, driving modes, and training modes are described. Finally, the development and the possible future directions of the upper limb rehabilitation robot are discussed.

Kinematical Analysis and Simulation of Upper Limb Rehabilitation Robot

2011 ◽  
Vol 474-476 ◽  
pp. 1315-1320
Author(s):  
Xiang Li Cheng ◽  
Yi Qi Zhou ◽  
Cui Peng Zuo ◽  
Xiao Hua Fan
Keyword(s):  
Upper Limb ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Rehabilitation Medicine ◽  
Algebraic Solution ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Kinematical Analysis ◽  
Limb Rehabilitation

To assist stroke patients with rehabilitation training, an upper limb rehabilitation robot with an exoskeleton structure and three degrees of freedom (DOF) was developed in this paper. Under the guidance of the theory of rehabilitation medicine, the mechanical design of the robot was completed. Then, the kinematics equations were established by means of homogeneous transformation, including the forward kinematics and the inverse kinematics. The kinematical analysis was carried out and the algebraic solution of inverse kinematics was derived, which provided a theoretical basis for realizing the intelligent control. To validate the performance, the kinematical simulation was conducted, and the simulation results showed that the design of the exoskeleton robot was feasible.

A NOVEL MULTI-DOF EXOSKELETON ROBOT FOR UPPER LIMB REHABILITATION

2016 ◽  
Vol 16 (08) ◽  
pp. 1640023 ◽  
Author(s):  
LIN LIU ◽  
YUN-YONG SHI ◽  
LE XIE
Keyword(s):  
Upper Limb ◽  
Passive Movement ◽  
Joint Movement ◽  
Upper Limb Rehabilitation ◽  
Sitting Posture ◽  
Rehabilitation Training ◽  
Exoskeleton Robot ◽  
Motion Function ◽  
Custom Made ◽  
Limb Rehabilitation

Patients who suffer from stroke have motion function disorders. They need rehabilitation training guided by doctors and trainers. Nowadays, robots have been introduced to help the patients regain their motion function in rehabilitation training. In this paper, a novel multi degree of freedom (DOF) exoskeleton robot, with light weight, including (6[Formula: see text]1) DOFs, named as Rehab-Arm, is proposed and developed for upper limb rehabilitation. The joints of the robot are equipped with micro motors which are capable of actuating each DOF respectively and simultaneously. The medial/lateral rotation of shoulder is realized by a semi-circle guide mechanism for convenience consideration and safety. The robot is used in sitting posture which is attached to a custom made chair. Hence, the robot can be used to assist patients in passive movement with 7 DOFs of the upper limb for rehabilitation. Five adult healthy male subjects participated in the experiment to test the joint movement accuracy of the robot. Finally, subjects can wear Rehab-Arm and move their upper limb, led by micro motors of the robot, to perform task assigned with specific trajectory.

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