scholarly journals Evaluation of Commercial Ropes Applied as Artificial Tendons in Robotic Rehabilitation Orthoses

2020 ◽  
Vol 10 (3) ◽  
pp. 920 ◽  
Author(s):  
Guilherme de Paula Rúbio ◽  
Fernanda Márcia Rodrigues Martins Ferreira ◽  
Fabrício Henrique de Lisboa Brandão ◽  
Victor Flausino Machado ◽  
Leandro Gonzaga Tonelli ◽  
...  
Keyword(s):  
Tensile Force ◽  
Permanent Deformation ◽  
Hand Movements ◽  
Clinical Test ◽  
Robotic Rehabilitation ◽  
Upper Limb Rehabilitation ◽  
Direct Measurements ◽  
Robotic Orthosis ◽  
Design Selection ◽  
Limb Rehabilitation

This study aims to present the design, selection and testing of commercial ropes (artificial tendons) used on robotic orthosis to perform the hand movements for stroke individuals over upper limb rehabilitation. It was determined the load applied in the rope would through direct measurements performed on four individuals after stroke using a bulb dynamometer. A tensile strength test was performed using eight commercial ropes in order to evaluate the maximum breaking force and select the most suitable to be used in this application. Finally, a pilot test was performed with a user of the device to ratify the effectiveness of the rope. The load on the cable was 12.38 kgf (121.4 N) in the stroke-affected hand, which is the maximum tensile force that the rope must to supports. Paragliding rope (DuPont™ Kevlar ® ) supporting a load of 250 N at a strain of 37 mm was selected. The clinical test proved the effectiveness of the rope, supporting the requested efforts, without presenting permanent deformation, effectively performing the participant’s finger opening.

scholarly journals ASSIST AS NEEDED CONTROL STRATEGY FOR UPPER LIMB REHABILITATION ROBOT IN EATING ACTIVITY

2021 ◽  
Vol 22 (1) ◽  
pp. 298-322
Author(s):  
Norsinnira Zainul Azlan ◽  
Nurul Syuhadah Lukman
Keyword(s):  
Upper Limb ◽  
Control Strategy ◽  
Progress Monitoring ◽  
Rehabilitation Robot ◽  
Robotic Rehabilitation ◽  
Rehabilitation Process ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation ◽  
Rehabilitation Exercises ◽  
Capability Level

The slacking behaviour or lack of participation from impaired patients during robotic rehabilitation therapy is one of the factors that slow down their recovery. The implementation of Assist As Needed (AAN) control law in the robotic assisted rehabilitation treatment may alleviate this problem and encourage the patients to be actively involved in the rehabilitation exercises. This paper presents a new Assist As Needed control strategy for an upper limb rehabilitation robot in assisting subjects with various levels of capabilities to regain their original upper limb’s functionality in realizing basic motions in eating activity. The controller consists of Proportional, Integral, Derivative (PID) controller in the feedback loop, with an adjustable gain K that varies according to the user’s level of capability. A Force Sensing Resistor (FSR) is used to identify the user’s upper extremity capability level. The controller regulates the necessary amount of assistance provided by the robot based on the information obtained from the sensor. The automatic adjustment of the robot’s assistance to the subjects leads them to put in their own effort in accomplishing the desired movements. The proposed control strategy is simple, easy to program, and mathematically less complicated. A prototype of the wearable upper limb rehabilitation robot has been built and a Graphical User Interface (GUI) has been developed using MATLAB software to facilitate the rehabilitation process and for progress monitoring. The simulation and experimental results have proven that the proposed control strategy is successful in regulating the necessary amount of robot assistance according to the patients’ level of capability. The proposed controller has effectively driven the upper limb rehabilitation robot to achieve the desired trajectory with zero steady state error, percentage overshoot less than 8% and settling time below 6 seconds, whilst providing the correct amount of robotic assistance in accordance to the subjects’ capability level. ABSTRAK: Reaksi kurang respon dari pesakit kurang keupayaan semasa terapi pemulihan robotik adalah satu faktor melambatkan kadar pemulihan. Pelaksanaan teknik kawalan Bantu Apabila Diperlukan (AAN) dalam rawatan pemulihan dengan bantuan robot dapat membantu dan mendorong pesakit terlibat secara aktif dalam latihan pemulihan. Artikel ini membentangkan strategi kawalan baru, iaitu Bantu Apabila Diperlukan oleh robot pemulihan bagi anggota atas pesakit yang mempunyai pelbagai tahap kemampuan, dalam mengembalikan fungsi asas gerakan tangan seperti aktiviti makan. Teknik kawalan terdiri daripada kawalan Berkadar, Integral, Terbitan (PID) dalam lingkaran tindak balas, dengan pemboleh ubah K mengikut tahap kemampuan pesakit. Alat pengukur Resistan Daya Rasa (FSR) digunakan bagi mengenal pasti tahap kemampuan maksima pesakit dalam menggerakkan tangan. Berdasarkan maklumat yang diperoleh daripada sensor, teknik kawalan akan menghantar maklumat kepada robot bagi membantu pesakit. Bantuan automatik yang dibekalkan robot kepada pesakit akan mendorong pesakit berusaha melakukan gerakan yang diperlukan. Strategi kawalan yang dicadangkan ini adalah ringkas, mudah diprogramkan dan kurang rumit dari segi matematik. Sebuah prototaip robot pemulihan anggota tangan telah dibina dan sebuah platform grafik bagi pengguna (Antara Muka Grafik Pengguna, GUI) telah dibangunkan menggunakan perisian MATLAB bagi memudahkan proses pemulihan dan pemantauan kemajuan pesakit. Hasil simulasi dan eksperimen membuktikan bahawa strategi cadangan kawalan ini berjaya mengatur jumlah bantuan daripada robot bersesuaian dengan tahap kemampuan pesakit. Teknik kawalan yang dicadangkan telah berjaya menggerakkan robot pemulihan tangan bagi mencapai lintasan gerakan yang diinginkan dengan ralat sifar pada keadaan stabil, peratusan ayunan berlebihan kurang daripada 8%, masa penyelesaian bawah 6 saat dan pada masa sama, memberikan maklumat bantuan robot yang tepat, bersesuaian dengan tahap kemampuan pesakit.

scholarly journals Thumbnail Ver/Abrir 2021_Garcia_Perez_Jose_Diseno_implementacion-algoritmos-control-fuerza-robot-rehabilitacion-miembro-superior.pdf (5.367Mb) Use este enlace para citar http://hdl.handle.net/2183/28384 Atribución-NoComercial-CompartirIgual 4.0 Internacional https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es Excepto si se señala otra cosa, la licencia del ítem se describe como Atribución-NoComercial-CompartirIgual 4.0 Internacional https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es Colecciones XLII Jornadas de Automática [103] Metadatos Mostrar el registro completo del ítem Título Diseño e implementación de algoritmos de control de fuerza para un robot de rehabilitación de miembro superior Título(s) alternativo(s) Design and implementation of force control algorithms for an upper-limb rehabilitation robot Autor(es) García Pérez, José Vicente Blanco, A. Catalán Orts, José María Ezquerro, Santiago Álvarez-Pastor, Jesús Arnau-Papí, Jesús García Aracil, Nicolás Fecha 2021 Cita bibliográfica García-Pérez, J. V., Blanco, A., Catalán, J. M., Ezquerro, S., Álvarez-Pastor, J., Arnau-Papí, J., García-Aracil, N. Diseño e implementación de algoritmos de control de fuerza para un robot de rehabilitación de miembro superior. En XLII Jornadas de Automática: libro de actas. Castelló, 1-3 de septiembre de 2021 (pp.515-520). DOI capítulo: https://doi.org/10.17979/spudc.9788497498043.515 DOI libro: https://doi.org/10.17979/spudc.9788497498043 Resumen [Resumen] El envejecimiento de la población aumentará la incidencia de las enfermedades relacionadas con la edad, como los accidentes cerebrovasculares. La robótica ha demostrado ser efectiva en la aplicación de terapias de rehabilitación a personas que presenten una pérdida de movilidad asociada a estas patologías. Existen numerosos sistemas de control apropiados para la interacción entre robots y pacientes en este tipo de terapias. De entre ellos, en este artículo se propone el uso de campos de potencial de fuerza en un dispositivo robótico de rehabilitación de miembro superior para pacientes que hayan sufrido pérdida de movilidad debido a un accidente cerebrovascular. En la primera parte del artículo se expone la formulación de los campos de potencial y se define el dispositivo robótico en el que han sido implementados. Posteriormente, se plantea una experimentación con sujetos sanos para comprobar la validez de esta estrategia de control. Los resultados muestran una disminución del error en los movimientos de los sujetos y abren la puerta a pruebas posteriores con pacientes reales. [Abstract] The aging of population will increase the incidence of age-related diseases, such as strokes. Robotic devices have proven their effectiveness in rehabilitation therapies for people who have a lack of mobility due to these diseases. There are many different systems to control the robot-human interaction in this type of therapies. This article proposes the use of force potential fields in a robotic upper-limb rehabilitation device for stroke patients. In the first part of the article the formulation of the force potential fields is shown and the robotic device used for the study is presented. Finally, an experimentation with healthy subjects is proposed to check the validity of this control strategy. The results show a decrease in the error in the subjects’movements and open the door to further tests with real patients. Palabras clave Robótica de rehabilitación Sistemas de control Campos de potencial de fuerza Robotic rehabilitation Control systems Force potential field Versión del editor https://doi.org/10.17979/spudc.9788497498043.515 Derechos Atribución-NoComercial-CompartirIgual 4.0 Internacional https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es ISBN 978-84-9749-804-3 Buscar en RUC Esta colección Listar Todo RUC Comunidades & Colecciones Por fecha de publicación Autores Títulos Materias Esta colección Por fecha de publicación Autores Títulos Materias Mi cuenta Acceder Registro Estadísticas Ver Estadísticas de uso

2021 ◽  
pp. 515-520
Author(s):  
José Vicente García Pérez ◽  
A. Blanco ◽  
José María Catalán Orts ◽  
Santiago Ezquerro ◽  
Jesús Álvarez-Pastor ◽  
...  
Keyword(s):  
Upper Limb ◽  
Human Interaction ◽  
Potential Fields ◽  
Robotic Rehabilitation ◽  
Upper Limb Rehabilitation ◽  
Age Related ◽  
Palabras Clave ◽  
Robotic Devices ◽  
Limb Rehabilitation ◽  
Force Potential

El envejecimiento de la población aumentará la incidencia de las enfermedades relacionadas con la edad, como los accidentes cerebrovasculares. La robótica ha demostrado ser efectiva en la aplicación de terapias de rehabilitación a personas que presenten una pérdida de movilidad asociada a estas patologías. Existen numerosos sistemas de control apropiados para la interacción entre robots y pacientes en este tipo de terapias. De entre ellos, en este artículo se propone el uso de campos de potencial de fuerza en un dispositivo robótico de rehabilitación de miembro superior para pacientes que hayan sufrido pérdida de movilidad debido a un accidente cerebrovascular. En la primera parte del artículo se expone la formulación de los campos de potencial y se define el dispositivo robótico en el que han sido implementados. Posteriormente, se plantea una experimentación con sujetos sanos para comprobar la validez de esta estrategia de control. Los resultados muestran una disminución del error en los movimientos de los sujetos y abren la puerta a pruebas posteriores con pacientes reales.

scholarly journals Movement Velocity and Fluidity Improve after Armeo®Spring Rehabilitation in Children Affected by Acquired and Congenital Brain Diseases: An Observational Study

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Emilia Biffi ◽  
Cristina Maghini ◽  
Beatrice Cairo ◽  
Elena Beretta ◽  
Elisabetta Peri ◽  
...  
Keyword(s):  
Upper Limb ◽  
Brain Diseases ◽  
Robotic Rehabilitation ◽  
Movement Velocity ◽  
Upper Limb Rehabilitation ◽  
Functional Changes ◽  
Clinical Scales ◽  
Promising Tool ◽  
Limb Rehabilitation ◽  
Two Populations

Background. Children with cerebral palsy (CP) and acquired brain injury (ABI) often exhibit upper limb impairment, with repercussions in their daily activities. Robotic rehabilitation may promote their functional recovery, but evidence of its effectiveness is often based on qualitative functional scales. The primary aim of the present work was to assess movement precision, velocity, and smoothness using numerical indices from the endpoint trajectory of Armeo®Spring. Secondly, an investigation of the effectiveness of robotic rehabilitation in CP and ABI children was performed. Methods. Upper limb functional changes were evaluated in children with CP (N=21) or ABI (N=22) treated with Armeo®Spring (20 45-minute sessions over 4 weeks) using clinical scales and numerical indices computed from the exoskeleton trajectory. Results. Functional scales (i.e., QUEST and Melbourne) were sensitive to changes produced by the treatment for the whole study group and for the two etiology-based subgroups (improvements above Minimal Clinically Importance Difference). Significant improvement was also observed in terms of velocity, fluidity, and precision of the movement through the numerical indices of kinematic performance. Differences in the temporal evolution of the motor outcome were highlighted between the ABI and CP subgroups, pointing toward adopting different rehabilitative protocols in these two populations. Conclusions. Robot-assisted upper limb rehabilitation seems to be a promising tool to promote and assess rehabilitation in children affected by acquired and congenital brain diseases.

scholarly journals Tele-Rehabilitation Versus Local Rehabilitation Therapies Assisted by Robotic Devices: A Pilot Study with Patients

2021 ◽  
Vol 11 (14) ◽  
pp. 6259
Author(s):  
José M. Catalán ◽  
José V. García-Pérez ◽  
Andrea Blanco ◽  
Santiago Ezquerro ◽  
Alicia Garrote ◽  
...  
Keyword(s):  
Pilot Study ◽  
Robotic Rehabilitation ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Outcomes ◽  
Robotic Devices ◽  
Point To Point ◽  
Limb Rehabilitation ◽  
Level Of Effort ◽  
Rehabilitation Exercise ◽  
Rehabilitation Robotic

The present study aims to evaluate the advantages of a master-slave robotic rehabilitation therapy in which the patient is assisted in real-time by a therapist. We have also explored if this type of strategy is applicable in a tele-rehabilitation environment. A pilot study has been carried out involving 10 patients who have performed a point-to-point rehabilitation exercise supported by three assistance modalities: fixed assistance (without therapist interaction), local therapist assistance, and remote therapist assistance in a simulated tele-rehabiliation scenario. The rehabilitation exercise will be performed using an upper-limb rehabilitation robotic device that assists the patients through force fields. The results suggest that the assistance provided by the therapist is better adapted to patient needs than fixed assistance mode. Therefore, it maximizes the patient’s level of effort, which is an important aspect to improve the rehabilitation outcomes. We have also seen that in a tele-rehabilitation environment it is more difficult to assess when to assist the patient than locally. However, the assistance suits patients better than the fixed assistance mode.

scholarly journals Influence of Cognitive Impairment on the Recovery of Subjects with Subacute Stroke Undergoing Upper Limb Robotic Rehabilitation

2021 ◽  
Vol 11 (5) ◽  
pp. 587
Author(s):  
Irene Aprile ◽  
Giulia Guardati ◽  
Valeria Cipollini ◽  
Dionysia Papadopoulou ◽  
Serena Monteleone ◽  
...  
Keyword(s):  
Cognitive Impairment ◽  
Spatial Attention ◽  
Upper Limb ◽  
Motor Recovery ◽  
Robotic Rehabilitation ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Intervention ◽  
Subacute Stroke ◽  
Cognitive Screen ◽  
Limb Rehabilitation

Cognitive decline is often present in stroke survivors, with a significant impact on motor recovery. However, how specific cognitive domains could impact motor recovery after robotic rehabilitation in patients with stroke is still not well understood. In this study, we analyzed the relationship between cognitive impairment and the outcome of a robot-mediated upper limb rehabilitation intervention in a sample of 51 subacute stroke patients. Participants were enrolled and treated with a set of robotic and sensor-based devices. Before the intervention, patients underwent a cognitive assessment by means of the Oxford Cognitive Screen. To assess the effect of the 30-session rehabilitation intervention, patients were assessed twice with the following outcome measures: the Fugl-Meyer Assessment for Upper Extremity (FMA-UE), to evaluate motor function; the Upper limb Motricity Index (MI), to evaluate upper limb muscle strength; the Modified Barthel Index (mBI), to evaluate activities of daily living and mobility. We found that deficits in spatial attention and executive functions impacted the mBI improvement, while language, number processing, and spatial attention deficits reduced the gains in the FMA-UE. These results suggest the importance to evaluate the cognitive functions using an adequate tool in patients with stroke undergoing a robotic rehabilitation intervention.

Integrative Upper-Limb Rehabilitation withBrightArm DuoTM in the Early Sub-Acute Phase of Recovery Post-Stroke

2017 ◽  
Vol 02 (02) ◽  
pp. 1740004 ◽  
Author(s):  
Gregory House ◽  
Grigore Burdea ◽  
Namrata Grampurohit ◽  
Kevin Polistico ◽  
Doru Roll ◽  
...  
Keyword(s):  
Acute Phase ◽  
Arm Movement ◽  
Control Group ◽  
Robotic Rehabilitation ◽  
Low Friction ◽  
Upper Limb Rehabilitation ◽  
Post Stroke ◽  
Limb Rehabilitation ◽  
Experimental Group ◽  
Better Than

The Bright Arm Duo is a low-friction robotic rehabilitation table that adaptably trains dual arm movement and grasp through interaction with serious games. In early sub-acute phase post-stroke, [Formula: see text] experimental group received conventional rehabilitation plus 12 BrightArm Duo sessions, each inducing up to 600 arm and hand repetitions. [Formula: see text] control group received conventional rehabilitation only. Improvement for the experimental group was better than controls across 11 of 12 functional metrics and activities of daily living ([Formula: see text]).

scholarly journals Robotic Orthosis for Upper Limb Rehabilitation

Proceedings ◽  
2020 ◽  
Vol 64 (1) ◽  
pp. 10
Author(s):  
Fernanda Márcia Rodrigues Martins Ferreira ◽  
Guilherme de Paula Rúbio ◽  
Fabrício Henrique de Lisboa Brandão ◽  
Arthur Mazzini da Mata ◽  
Natália Batista Castilho de Avellar ◽  
...  
Keyword(s):  
Upper Limb ◽  
Mobile Application ◽  
Upper Limb Rehabilitation ◽  
Post Stroke ◽  
Structural Reinforcement ◽  
Robotic Orthosis ◽  
Robotic Devices ◽  
Limb Rehabilitation ◽  
Rope System ◽  
Flexion And Extension

Individuals with impaired upper limbs have motor limitations that interfere with functionality. An alternative to rehabilitation is robot-assisted therapy, a method that increases the effectiveness of treatment. New robotic actuators have been developed to assist in the rehabilitation of the upper limb. One of them aims to actively perform finger extension and flexion passively, using a servo motor coupled to a rope system. At the elbow, a direct current (DC) motor combined with a gearbox was coupled to a system of pulleys and ropes designed to actively perform flexion and extension movements. To activate the system, an Arduino-NANO® and a mobile application for Android were used. The performance of the prototype was evaluated in four post-stroke volunteers. The ability to perform the proposed movements with the device was observed. Structural reinforcement was necessary, after twisting the elbow support structure, with pronation of the forearm, resulting in increased component weight. This work presented new robotic devices that can assist in the rehabilitation of post-stroke individuals.

Upper-limb Rehabilitation Robot Based on Motor Imagery EEG

ROBOT ◽  
2011 ◽  
Vol 33 (3) ◽  
pp. 307-313 ◽  
Author(s):  
Baoguo XU ◽  
Si PENG ◽  
Aiguo SONG
Keyword(s):  
Motor Imagery ◽  
Upper Limb ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Upper-limb Rehabilitation Robot Motion Control Based on Dynamic Interpolation

ROBOT ◽  
2012 ◽  
Vol 34 (5) ◽  
pp. 539 ◽  
Author(s):  
Lizheng PAN ◽  
Aiguo SONG ◽  
Guozheng XU ◽  
Huijun LI ◽  
Baoguo XU
Keyword(s):  
Motion Control ◽  
Upper Limb ◽  
Robot Motion ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation
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