Path Reference Generation for Upper-Limb Rehabilitation with Kinematic Model

2018 ◽  
Author(s):  
Muhammad Hablul Barri ◽  
Augie Widyotriatmo ◽  
Suprijanto
Keyword(s):  
Upper Limb ◽  
Kinematic Model ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Design and human–machine compatibility analysis of Co-Exos II for upper-limb rehabilitation

2019 ◽  
Vol 39 (4) ◽  
pp. 715-726
Author(s):  
Leiyu Zhang ◽  
Jianfeng Li ◽  
Shuting Ji ◽  
Peng Su ◽  
Chunjing Tao ◽  
...  
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Compact Structure ◽  
Vertical Movements ◽  
Content Type ◽  
Upper Limb Rehabilitation ◽  
Compatibility Analysis ◽  
Configuration Synthesis ◽  
Limb Rehabilitation

Purpose Upper-limb joint kinematics are highly complex and the kinematics of rehabilitation exoskeletons fail to reproduce them, resulting in hyperstaticity and human–machine incompatibility. The purpose of this paper is to design and develop a compatible exoskeleton robot (Co-Exos II) to address these problems. Design/methodology/approach The configuration synthesis of Co-Exos II is completed using advanced mechanism theory. A compatible configuration is selected and four passive joints are introduced into the connecting interfaces based on optimal configuration principles. A Co-Exos II prototype with nine degrees of freedom (DOFs) is developed and still owns a compact structure and volume. A new approach is presented to compensate the vertical glenohumeral (GH) movements. Co-Exos II and the upper arm are simplified as a guide-bar mechanism at the elevating plane. The theoretical displacements of passive joints are calculated by the kinematic model of the shoulder loop. The compatible experiments are completed to measure the kinematics of passive joints. Findings The compatible configuration of the passive joints can effectively reduce the gravity influences of the exoskeleton device and the upper extremities. The passive joints exhibit excellent compensation effect for the GH joint movements by comparing the theoretical and measured results. Passive joints can compensate for most GH movements, especially vertical movements. Originality/value Co-Exos II possesses good human–machine compatibility and wearable comfort for the affected upper limbs. The proposed compensation method is convenient to therapists and stroke patients during the rehabilitation trainings.

The Research of Kinematic Model in the Rehabilitative Training System

2014 ◽  
Vol 607 ◽  
pp. 764-767
Author(s):  
Qiang Wang ◽  
Run Ji
Keyword(s):  
Upper Limb ◽  
Kinematic Model ◽  
Training System ◽  
Upper Body ◽  
Training Methods ◽  
Upper Limb Rehabilitation ◽  
Effective Training ◽  
Virtual Computer ◽  
Limb Rehabilitation ◽  
Human Upper Limb

This paper provided a new method of controlling the rehabilitative training system for the patients with upper limb movement disorder. On the basis of the computer through the patient's healthy limb motion gesture motion parameters, analyzed the kinematic model of human upper limb joints, obtained the kinematic parameters of upper body. Study the establishment of different categories of patients with upper limb virtual computer model system for the detection of relevant parameters. And according to the requirements of upper limb rehabilitation training for patients with upper limb rehabilitative training system, researched the dynamics model of human upper limb, and indicated a method which may provide scientific and effective training methods to recover function rehabilitation for patients.

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

scholarly journals Artificial Intelligence-Based Wearable Robotic Exoskeletons for Upper Limb Rehabilitation: A Review

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2146
Author(s):  
Manuel Andrés Vélez-Guerrero ◽  
Mauro Callejas-Cuervo ◽  
Stefano Mazzoleni
Keyword(s):  
Artificial Intelligence ◽  
Upper Limb ◽  
Main Trend ◽  
Motor Rehabilitation ◽  
Rehabilitation Process ◽  
Upper Limb Rehabilitation ◽  
Multiple Sensors ◽  
Meta Analyses ◽  
Limb Rehabilitation ◽  
And Control

Processing and control systems based on artificial intelligence (AI) have progressively improved mobile robotic exoskeletons used in upper-limb motor rehabilitation. This systematic review presents the advances and trends of those technologies. A literature search was performed in Scopus, IEEE Xplore, Web of Science, and PubMed using the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) methodology with three main inclusion criteria: (a) motor or neuromotor rehabilitation for upper limbs, (b) mobile robotic exoskeletons, and (c) AI. The period under investigation spanned from 2016 to 2020, resulting in 30 articles that met the criteria. The literature showed the use of artificial neural networks (40%), adaptive algorithms (20%), and other mixed AI techniques (40%). Additionally, it was found that in only 16% of the articles, developments focused on neuromotor rehabilitation. The main trend in the research is the development of wearable robotic exoskeletons (53%) and the fusion of data collected from multiple sensors that enrich the training of intelligent algorithms. There is a latent need to develop more reliable systems through clinical validation and improvement of technical characteristics, such as weight/dimensions of devices, in order to have positive impacts on the rehabilitation process and improve the interactions among patients, teams of health professionals, and technology.

scholarly journals Mechatronic Design of a Robot for Upper Limb Rehabilitation at Home

2021 ◽  
Vol 18 (4) ◽  
pp. 857-871
Author(s):  
Elio Matteo Curcio ◽  
Giuseppe Carbone
Keyword(s):  
Design Process ◽  
Upper Limb ◽  
Experimental Tests ◽  
Design Solution ◽  
Upper Limb Rehabilitation ◽  
Potential Benefits ◽  
Significant Cost Reduction ◽  
Dynamics Models ◽  
Limb Rehabilitation ◽  
At Home

AbstractThis paper addresses the design of a novel bionic robotic device for upper limb rehabilitation tasks at home. The main goal of the design process has been to obtain a rehabilitation device, which can be easily portable and can be managed remotely by a professional therapist. This allows to treat people also in regions that are not easily reachable with a significant cost reduction. Other potential benefits can be envisaged, for instance, in the possibility to keep social distancing while allowing rehabilitation treatments even during a pandemic spread. Specific attention has been devoted to design the main mechatronic components by developing specific kinematics and dynamics models. The design process includes the implementation of a specific control hardware and software. Preliminary experimental tests are reported to show the effectiveness and feasibility of the proposed design solution.

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