An extended kinematic model for arm rehabilitation training and assessment

2016 ◽  
Author(s):  
Kui Wang ◽  
Siyi Li ◽  
Chang Xu ◽  
Ningbo Yu
Keyword(s):  
Kinematic Model ◽  
Rehabilitation Training ◽  
Arm Rehabilitation

scholarly journals Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)—A Cable-Based Arm Exoskeleton

2013 ◽  
Vol 6 (1) ◽  
Author(s):  
Ying Mao ◽  
Xin Jin ◽  
Sunil K. Agrawal
Keyword(s):  
Real Time ◽  
Glenohumeral Joint ◽  
Kinematic Model ◽  
Estimation Method ◽  
Time Estimation ◽  
Estimation Algorithm ◽  
Joint Rotation ◽  
Rotation Center ◽  
Arm Rehabilitation ◽  
Novel Approach

In the past few years, the authors have proposed several prototypes of a Cable-driven upper ARm EXoskeleton (CAREX) for arm rehabilitation. One of the assumptions of CAREX was that the glenohumeral joint rotation center (GH-c) remains stationary in the inertial frame during motion, which leads to inaccuracy in the kinematic model and may hamper training performance. In this paper, we propose a novel approach to estimate GH-c using measurements of shoulder joint angles and cable lengths. This helps in locating the GH-c center appropriately within the kinematic model. As a result, more accurate kinematic model can be used to improve the training of human users. An estimation algorithm is presented to compute the GH-c in real-time. The algorithm was implemented on the latest prototype of CAREX. Simulations and preliminary experimental results are presented to validate the proposed GH-c estimation method.

scholarly journals Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4461 ◽  
Author(s):  
Weihai Chen ◽  
Zhongyi Li ◽  
Xiang Cui ◽  
Jianbin Zhang ◽  
Shaoping Bai
Keyword(s):  
Mechanical Design ◽  
Kinematic Model ◽  
Light Weight ◽  
Skeletal System ◽  
Kinematic Modeling ◽  
Modeling And Control ◽  
Arm Rehabilitation ◽  
Human Arm ◽  
Human Limb ◽  
And Control

Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to inaccurate anthropomorphic parameters and flexible attachments. In this paper, the mechanical design of a cable-driven arm rehabilitation exoskeleton is proposed to accommodate human limbs of different sizes and shapes. A novel arm cuff able to adapt to the contours of human upper limbs is designed. This has given rise to an exoskeleton which reduces the uncertainties caused by instabilities between the exoskeleton and the human arm. A kinematic model of the exoskeleton is further developed by considering the inaccuracies of human-arm skeleton kinematics and attachment errors of the exoskeleton. A parameter identification method is used to improve the accuracy of the kinematic model. The developed kinematic model is finally tested with a primary experiment with an exoskeleton prototype.

scholarly journals Motion planning of rigid chain for rigid–flexible coupled robot

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141877281 ◽  
Author(s):  
Keyi Wang ◽  
Pengcheng Yin ◽  
Haipeng Yang ◽  
Lan Wang
Keyword(s):  
Motion Planning ◽  
Lower Limb ◽  
Kinematic Model ◽  
Parallel Robot ◽  
Lower Limbs ◽  
Influence Coefficient ◽  
Rehabilitation Robot ◽  
Rehabilitation Training ◽  
Branched Chain ◽  
Branched Chains

This work is motivated by the possibility that hemiplegic patients might achieve complete functional recovery of lower limb joints, muscles, and nerves by stretching and bending the lower limbs using rehabilitation training. A model of a rigid–flexible coupled lower limb rehabilitation robot is established and mechanically analyzed to satisfy both the control of various movement loci with flexion and extension and the requirements of rehabilitation training. According to the Denavit–Hartenberg method and the influence coefficient method, a kinematic model is established. Moreover, a static equilibrium equation is presented, and two motion planning methods for rigid branched chain movement are put forward. Fluctuation parameters are proposed to estimate the tension of every wire. A planning strategy of different rigid branched chains is analyzed during mechanical simulation using MATLAB [version 2013a]/SimMechanics along a specific trajectory. The law of wires and rigid branched chains is achieved. The wires’ working performance of a parallel robot can be improved by introducing a rigid branched chain. During the dynamic simulation of the mechanism, other wires’ tension changes are analyzed by setting the wire’s tension (100 N) of a coupled branched chain. The wire’s tension performance in the system is evaluated by its fluctuation performance. Finally, it is validated that the strategy of angle bisection is the best. The results prove that the rigid–flexible parallel rehabilitation robot can realize gait rehabilitation training of lower limbs, which leads to the servo control research of this robot.

scholarly journals Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Yaxi Wang ◽  
Qingsong Xu
Keyword(s):  
Experimental Testing ◽  
Kinematic Model ◽  
Parallel Robot ◽  
Artificial Muscles ◽  
Rehabilitation Robot ◽  
Soft Robot ◽  
Rehabilitation Training ◽  
Post Surgery ◽  
Flexion Extension ◽  
Pneumatic Artificial Muscles

AbstractWrist rehabilitation is needed to help post-stroke and post-surgery patients recover from wrist fracture or injury. Traditional rehabilitation training is conducted by a therapist in a hospital, which hinders timely treatment due to the corresponding time and space constraints. This paper presents the design and implementation of a soft parallel robot for automated wrist rehabilitation. The presented wrist rehabilitation robot integrates the advantages of both soft robot and parallel robot structures. Unlike traditional rigid-body based rehabilitation robots, this soft parallel robot exhibits a compact structure, which is highly secure, adaptable, and flexible and thus a low-cost solution for personalized treatment. The proposed soft wrist-rehabilitation robot is driven by six evenly distributed linear actuators using pneumatic artificial muscles and one central linear electric motor. The introduced parallel-kinematic mechanism design enables the enhancement of the output stiffness of the soft robot for practical use. An electromyography sensor is adopted to provide feedback signals for evaluating the rehabilitation training process. A kinematic model of the designed robot is derived, and a prototype is fabricated for experimental testing. The results demonstrate that the developed soft rehabilitation robot can assist the wrist to realize all the required training motions, including abduction-adduction, flexion-extension, and supination-pronation. The compact and lightweight structure of this novel robot makes it convenient to use, and suitable rehabilitation training modes can be chosen for tailored rehabilitation at home or in a hospital.

SCREW KINEMATIC MODEL FOR ROBOT CALIBRATION WITH PC-ROBOT COMMUNICATION OVERVIEW

2017 ◽  
Author(s):  
Lucas Kato ◽  
Tiago Pinto ◽  
Henrique Simas ◽  
Daniel Martins
Keyword(s):  
Kinematic Model ◽  
Robot Calibration ◽  
Robot Communication

Multi-criteria optimization of the four-finger gripper mechanism

2020 ◽  
Vol 8 (4) ◽  
pp. 276-286
Author(s):  
Vu Duc Quyen ◽  
Andrey Ronzhin
Keyword(s):  
Multicriteria Optimization ◽  
Kinematic Model ◽  
Objective Functions ◽  
Nsga Ii ◽  
Suction Nozzle

Three posterior algorithms NSGA-II, MOGWO and MOPSO to solve the problem of multicriteria optimization of the robotic gripper design are considered. The description of the kinematic model of the developed prototype of the four-fingered gripper for picking tomatoes, its limitations and objective functions used in the optimization of the design are given. The main advantage of the developed prototype is the use of one actuator for the control of the fingers and the suction nozzle. The results of optimization of the kinematic model and the dimensions of the elements of robotic gripper using the considered posterior algorithms are presented.

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