Mechanical Design of a Bioinspired Compliant Robotic Wrist Rehabilitation Equipment

2021 ◽  
Vol 11 (3) ◽  
pp. 1246
Author(s):  
Ovidiu Filip ◽  
Andrea Deaconescu ◽  
Tudor Deaconescu
Keyword(s):  
Mechanical Design ◽  
Pneumatic Muscle ◽  
Social Reintegration ◽  
Constructive Solution ◽  
Fin Ray ◽  
Patient Pain ◽  
Passive Mobilization ◽  
Robotic Wrist ◽  
Compliant Actuator

Early social reintegration of patients with disabilities of the wrist is possible with the help of dedicated rehabilitation equipment. Using such equipment reduces the duration of recovery and reduces significantly rehabilitation costs. Based on these considerations the paper puts forward a novel constructive solution of rehabilitation equipment that ensures the simultaneous passive mobilization of the radiocarpal, metacarpophalangeal, and interphalangeal joints. The novelty of this equipment consists in the bioinspired concept of the hand support based on the Fin-Ray effect and in driving it by means of a pneumatic muscle, an inherently compliant actuator. The paper places an emphasis on the compliant character of the rehabilitation equipment that is responsible for its adaptability to the concrete conditions of patient pain tolerability.

scholarly journals Fin-Ray effect® based structure for the passive mobilization of the hand joints

2019 ◽  
Vol 290 ◽  
pp. 08007
Author(s):  
Andrea Deaconescu ◽  
Tudor Deaconescu
Keyword(s):  
Physical Therapy ◽  
Range Of Motion ◽  
Recovery Period ◽  
Medical Rehabilitation ◽  
Human Hand ◽  
Pneumatic Muscle ◽  
Hand Joints ◽  
Fin Ray ◽  
Passive Mobilization ◽  
Rehabilitation Exercises

In medical rehabilitation and physical therapy practice it has been proved that the passive mobilization of the hand joints as part of rehabilitation exercises improves the recovery period and also diminishes the rehabilitation costs by about 50%. In order to facilitate the practice of passive mobilization exercises in both medical units and patient homes the development of new adequate rehabilitation equipment has become a necessity. It is within the context of this requirement that the paper puts forward and discusses a novel solution of rehabilitation equipment that makes possible the simultaneous exercising of the radiocarpal, metacarpophalangeal and interphalangeal joints. The first novelty proposed by this equipment is using the Fin-Ray effect® in the construction of the hand support and mobilization structure. A further novelty is the utilization of a pneumatic muscle as the motor that drives the equipment. The paper presents the construction of the equipment and discusses range of motion generated by it compared to the corresponding motion limits of the human hand, as identified in literature.

scholarly journals An Extended Proxy-Based Sliding Mode Control of Pneumatic Muscle Actuators

2019 ◽  
Vol 9 (8) ◽  
pp. 1571 ◽  
Author(s):  
Wei Zhao ◽  
Aiguo Song ◽  
Yu Cao
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Physical Object ◽  
Functional Method ◽  
Pneumatic Muscle ◽  
Mode Control ◽  
Virtual Coupling ◽  
The Stability ◽  
Compliant Actuator

To solve the problem of controlling an intrinsically compliant actuator, pneumatic muscle actuator (PMA), this paper presents an extended proxy-based sliding mode control (EPSMC) strategy. It is well known that the chattering phenomenon of conventional sliding mode control (SMC) can be effectively solved by introducing a proxy between the physical object and desired position, which results in the so-called proxy-based sliding mode control (PSMC). To facilitate the theoretical analysis of PSMC and obtain a more general form of controller, a new virtual coupling and a SMC are used in our proposed EPSMC. For a class of second-order nonlinear system, the sufficient conditions ensuring the stability and passivity are obtained by using the Lyapunov functional method. Experiments on a real-time PMA control platform validate the effectiveness of the proposed method, and comparison studies also show the superiority of EPSMC over the conventional SMC, PSMC, and PID controllers.

scholarly journals Mechanical and Control Design of an Industrial Exoskeleton for Advanced Human Empowering in Heavy Parts Manipulation Tasks

2019 ◽  
Author(s):  
Alessandro Mauri ◽  
Jacopo Lettori ◽  
Giovanni Fusi ◽  
Davide Fausti ◽  
Maurizio Mor ◽  
...  
Keyword(s):  
High Performance ◽  
Fuzzy Logic Controller ◽  
Mechanical Design ◽  
Low Cost ◽  
Control Design ◽  
Design Solution ◽  
Design Solutions ◽  
Robot Cooperation ◽  
And Control ◽  
Compliant Actuator

Exoskeleton robots are a rising technology in industrial contexts to assist humans in onerous applications. Mechanical and control design solutions are intensively investigated to achieve a high performance human-robot collaboration (e.g., transparency, ergonomics, safety, etc.). However, the most of the investigated solutions involve high-cost hardware, complex design solutions and standard actuation. In the presented work, an industrial exoskeleton for lifting and transportation of heavy parts is proposed. A low-cost mechanical design solution is proposed, exploiting compliant actuation at the shoulder joint to increase safety and transparency in human-robot cooperation. A hierarchic model-based controller is then proposed (including the modeling of the compliant actuator) to actively assist the human while executing the task. An inner optimal controller is proposed for trajectory tracking, while an outer fuzzy logic controller is proposed to online deform the task trajectory on the basis of the human’s intention of motion. A gain scheduler is also designed to calculate the optimal control gains on the basis of the performed trajectory. Simulations have been performed in order to validate the performance of the proposed device, showing promising results. The prototype is under realization.

The new CM-Series TEMs: integration of a five-axis motorized, fully computer-controlled goniometer

1993 ◽  
Vol 51 ◽  
pp. 258-259
Author(s):  
Marc J.C. de Jong ◽  
P. Emile S.J. Asselbergs ◽  
Max T. Otten
Keyword(s):  
Mechanical Design ◽  
Computer Control ◽  
Objective Lens ◽  
Access Port ◽  
Vibration Stability ◽  
Transmission Electron ◽  
Computer Controlled ◽  
High Degree ◽  
Five Axis ◽  
Five Axes

A new step forward in Transmission Electron Microscopy has been made with the introduction of the CompuStage on the CM-series TEMs: CM120, CM200, CM200 FEG and CM300. This new goniometer has motorization on five axes (X, Y, Z, α, β), all under full computer control by a dedicated microprocessor that is in communication with the main CM processor. Positions on all five axes are read out directly - not via a system counting motor revolutions - thereby providing a high degree of accuracy. The CompuStage enters the octagonal block around the specimen through a single port, allowing the specimen stage to float freely in the vacuum between the objective-lens pole pieces, thereby improving vibration stability and freeing up one access port. Improvements in the mechanical design ensure higher stability with regard to vibration and drift. During stage movement the holder O-ring no longer slides, providing higher drift stability and positioning accuracy as well as better vacuum.

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