Mechanical Design and Control of a 2 Degree of Freedom Robotic Hand Rehabilitation Device

2014 ◽  
Author(s):  
Patrick Murphy ◽  
Qing Chao Kong ◽  
Constantinos Mavroidis
Keyword(s):  
Control System ◽  
Mechanical Design ◽  
Impedance Control ◽  
Degree Of Freedom ◽  
Robotic Hand ◽  
Hand Rehabilitation ◽  
Automated Control ◽  
Home Setting ◽  
Robotic Therapy ◽  
Flexion And Extension

Robotic neurorehabilitation is a rapidly growing field in both research and industry. Robotics offer the ability to create less labor-intensive rehabilitation for therapists, while providing an interactive experience for patients. Furthermore, the ability to implement assistive robotic therapy in the home setting has the potential to increase the frequency of patient rehabilitation sessions while decreasing the overall cost of therapy. Therefore, the design, control, and initial testing of an actuated 2 degree of freedom hand rehabilitation device is presented. A 2 degree of freedom hand rehabilitation device, named the Navigator, is mechanically capable of assistive or resistive mode exercise for flexion and extension of the fingers, as well as pronation and supination of the wrist. A series elastic actuator incorporating a rack and pinion provides actuation to flexion and extension of the fingers. A belt drive is used to provide actuation to pronation and supination of the wrist. Position and load sensors are integrated into both actuators to provide feedback for the control system. The implementation of an impedance control system utilizing position, force, and torque feedback is also presented. Automated control results as well as preliminary pilot data of resistive mode exercises are presented. The impedance controller interacts with a virtual environment. Preliminary results of the controller confirm the efficacy of the device’s mechanical design.

Consideration of Multi-Degree of Freedom Vibration on Large-Sized Gantry Type Linear Motor Slider

2019 ◽  
Vol 31 (2) ◽  
pp. 240-250 ◽  
Author(s):  
Tetsuya Ojiro ◽  
Toshiyuki Tachibana ◽  
Hideki Honda ◽  
Hiroshi Hamamatsu ◽  
Kazuhiro Tsuruta ◽  
...  
Keyword(s):  
Control System ◽  
Modal Analysis ◽  
Vibration Suppression ◽  
Control Method ◽  
Impedance Control ◽  
Linear Motor ◽  
Repulsive Force ◽  
Degree Of Freedom ◽  
Past Study ◽  
Large Production

Many transport units for large production devices now incorporate large-sized gantry type linear motor sliders comprising two parallel linear sliders linked by a joint table. This type of linear motor slider develops a unique mechanical distortion, generating a repulsive force between the two axes that can raise the motor output forces higher than their rated limit. A previous study proposed a method to suppress the repulsive force. However, as feedback gains are set high, force references oscillate and the control system becomes unstable. In past study, yawing vibration suppression methods have been proposed. But, we consider that this vibration is not yawing vibration because the force references include same phase vibration with high gains. Therefore, the modal analysis is performed to analyze this vibration. As a result, it was found that the pitching vibration of the slider was greatly affected. This paper considers this vibration phenomenon, and suppression of the vibration by control method which is similar to impedance control is presented. Hence, it is shown that considering multi-degree of freedom vibration which means yawing vibration and pitching vibration included is important in order to control the large-sized gantry type linear motor sliders.

scholarly journals Mechanical Design and Control System Development of a Rehabilitation Robotic System for Walking With Arm Swing

2021 ◽  
Vol 2 ◽  
Author(s):  
Juan Fang ◽  
Kenneth J. Hunt
Keyword(s):  
Control System ◽  
Mechanical Design ◽  
Impedance Control ◽  
Tracking Error ◽  
Pressure Sensors ◽  
Gait Training ◽  
Robotic System ◽  
Lower Limbs ◽  
Dynamic Force ◽  
Arm Swing

Background: Interlimb neural coupling implies that arm swing should be included during gait training to improve rehabilitation outcomes. We previously developed several systems for production of walking with arm swing, but the reaction forces on the foot sole during usage of the systems were not satisfactory and there was potential to improve control system performance. This work aimed to design and technically evaluate a novel system for producing walking with synchronised arm and leg movement and with dynamic force loading on the foot soles.Methods: The robotic system included a passive curved treadmill and a trunk frame, upon which the rigs for the upper and lower limbs were mounted. Ten actuators and servocontrollers with EtherCAT communication protocol controlled the bilateral shoulder, elbow, hip, knee and ankle joints. Impedance control algorithms were developed and ran in an industrial PC. Flexible pressure sensors recorded the plantar forces on the foot soles. The criteria of implementation and responsiveness were used to formally evaluate the technical feasibility of the system.Results: Using impedance algorithms, the system produced synchronous walking with arm swing on the curved treadmill, with mean RMS angular tracking error <2° in the 10 joint profiles. The foot trajectories relative to the hip presented similar shapes to those during normal gait, with mean RMS displacement error <1.5 cm. A force pattern that started at the heel and finished at the forefoot was observed during walking using the system, which was similar to the pattern from overground walking.Conclusion: The robotic system produced walking-like kinematics in the 10 joints and in the foot trajectories. Integrated with the curved treadmill, the system also produced walking-like force patterns on the foot soles. The system is considered feasible as far as implementation and responsiveness are concerned. Future work will focus on improvement of the mechanical system for future clinical application.

scholarly journals Development of a Robotic Hand Orthosis for Stroke Patient Rehabilitation

2020 ◽  
Vol 16 (13) ◽  
pp. 142
Author(s):  
Emmanuel Osayande ◽  
Kayode P. Ayodele ◽  
Morenikeji A. Komolafe
Keyword(s):  
Muscle Force ◽  
Low Cost ◽  
Full Range ◽  
Computer Interface ◽  
Stroke Survivors ◽  
Robotic Hand ◽  
Finger Movements ◽  
Hand Rehabilitation ◽  
Robotic Orthosis ◽  
Flexion And Extension

<p class="0abstractCxSpFirst">This study developed a robotic orthosis capable of detecting the intention of a wearer to move their fingers, thereafter augmenting their muscle force. This was with the aim of producing a device that can be used in post-stroke hand rehabilitation. The design of the orthosis was based on an existing design, which was modified using BLENDER release 2.78 and printed with ABS plastic. An actuator was mounted at the rear end of the orthosis, to provide actuation to perform full range flexion and extension motion for digits. Force sensors were embedded at the fingertips of the orthosis to detect minute finger movements. For severe cases where stroke survivors are incapable of little finger movements, the study employed a brain-computer interface to detect the intent to move. The robotic orthosis achieved an accuracy of 64.1% and 62% in detecting unclench and clench activities respectively and actuating the orthosis digits in response. The results revealed that the design presented here can help provide effective hand rehabilitation. The study concluded that the design incorporated with BCI systems is capable of performing hand rehabilitation in a clinical setting as it obtains some level of accuracy in detecting patient intent to move and actuating in response. This design is low cost, and hence will lessen the economic burden for stroke survivors in a poor-resource country.</p><p class="0abstractCxSpLast"><strong> </strong></p>

Variable impedance control of finger exoskeleton for hand rehabilitation following stroke

2019 ◽  
Vol 47 (1) ◽  
pp. 23-32
Author(s):  
Fuhai Zhang ◽  
Legeng Lin ◽  
Lei Yang ◽  
Yili Fu
Keyword(s):  
Control System ◽  
Real Time ◽  
Control Method ◽  
Impedance Control ◽  
Contact Forces ◽  
Hand Rehabilitation ◽  
Content Type ◽  
Flexion Extension ◽  
Output Trajectory ◽  
Impedance Parameters

Purpose The purpose of this paper is to propose a variable impedance control method of finger exoskeleton for hand rehabilitation using the contact forces between the finger and the exoskeleton, making the output trajectory of finger exoskeleton comply with the natural flexion-extension (NFE) trajectory accurately and adaptively. Design/methodology/approach This paper presents a variable impedance control method based on fuzzy neural network (FNN). The impedance control system sets the contact forces and joint angles collected by sensors as input. Then it uses the offline-trained FNN system to acquire the impedance parameters in real time, thus realizing tracking the NFE trajectory. K-means clustering method is applied to construct FNN, which can obtain the number of fuzzy rules automatically. Findings The results of simulations and experiments both show that the finger exoskeleton has an accurate output trajectory and an adaptive performance on three subjects with different physiological parameters. The variable impedance control system can drive the finger exoskeleton to comply with the NFE trajectory accurately and adaptively using the continuously changing contact forces. Originality/value The finger is regarded as a part of the control system to get the contact forces between finger and exoskeleton, and the impedance parameters can be updated in real time to make the output trajectory comply with the NFE trajectory accurately and adaptively during the rehabilitation.

Automated control system of tactical UAV mission and payload

2014 ◽  
Vol 0 (10) ◽  
pp. 73-77
Author(s):  
P. P. Tkachuk ◽  
Y. P. Salnyk ◽  
Y. M. Pashchuk ◽  
I. V. Matala
Keyword(s):  
Control System ◽  
Automated Control ◽  
Automated Control System

PRESSURE CONTROL SYSTEM AT CEMENTATION OF WELLS

2017 ◽  
pp. 62-67
Author(s):  
V. G. Kuznetsov ◽  
O. A. Makarov
Keyword(s):  
Control System ◽  
Oil And Gas ◽  
Pressure Control ◽  
Poor Quality ◽  
Technical Solution ◽  
Cement Slurry ◽  
Automated Control ◽  
Injection Speed ◽  
Pressure Control System ◽  
Effective Life

At cementing of casing of oil and gas wells during the process of injecting of cement slurry in the casing column the slurry can move with a higher speed than it’s linear injection speed. A break of continuity of fluid flow occurs, what can lead to poor quality isolation of producing formations and shorten the effective life of the well. We need to find some technical solution to stabilize the linear velocity of the cement slurry in the column. This task can be resolved with an automated control system.

Жизнеобеспечение экипажа пилотируемого космического объекта, проблемы управления

2019 ◽  
pp. 109-120
Author(s):  
Boris F. ZARETSKIY ◽  
Arkadiy S. GUZENBERG ◽  
Igor A. SHANGIN
Keyword(s):  
Control System ◽  
Life Support ◽  
Support Systems ◽  
Space Missions ◽  
Automated System ◽  
Deep Space ◽  
Automated Control ◽  
Life Support Systems ◽  
Long Duration ◽  
Space Life Support

Life support for first manned spaceflights was based on supplies of consumables. Crew life support systems based on supplies of water and oxygen, in spite of their simplicity, are extremely inefficient in orbital space missions and are unfeasible in deep space missions because of mass and volume constraints. Therefore, there are currently developed and are to be used on space stations the life support systems that are based on chemical and physical regeneration of water and oxygen extracted from human waste. In view of further advances in long-duration orbital stations, and the prospects of establishment of planetary outposts and deep space exploration, the problem of constructing an automated system for controlling a suite of regenerative LSS becomes urgent. The complexity of solving the problem of constructing an efficient control system in this case owes to the existence of a large number of effectiveness criteria. The paper proposes a system of consolidated global efficiency criteria, which allows to break up this problem into a series of sub-problems of optimization in order to solve this problem. The proposed criteria are longevity, cost, comfort. The paper presents a series of specific examples of using the proposed principles with necessary generalizations. Key words: space life support systems, atmosphere revitalization equipment, automated control system, global generalized efficiency criteria, longevity, cost, comfort.

Sign in / Sign up

Export Citation Format

Share Document