Robotic device for wrist and finger exercise

2021 ◽  
Author(s):  
Ana Mandeljc ◽  
Aleksander Rajhard ◽  
Marko Munih ◽  
Roman Kamnik
Keyword(s):  
Robotic Device

Design of a Human Knee Reeducation Mechanism

2019 ◽  
Vol 11 (1) ◽  
pp. 42-53
Author(s):  
Allaoua Brahmia ◽  
Ridha Kelaiaia
Keyword(s):  
Lower Limb ◽  
Mechanical Design ◽  
Kinematic Chain ◽  
Lower Limbs ◽  
Kinematic Structure ◽  
Robotic Device ◽  
Human Knee ◽  
Kinematic Study ◽  
Rehabilitation Exercise ◽  
New Machine

Abstract To establish an exercise in open muscular chain rehabilitation (OMC), it is necessary to choose the type of kinematic chain of the mechanical / biomechanical system that constitutes the lower limbs in interaction with the robotic device. Indeed, it’s accepted in biomechanics that a rehabilitation exercise in OMC of the lower limb is performed with a fixed hip and a free foot. Based on these findings, a kinematic structure of a new machine, named Reeduc-Knee, is proposed, and a mechanical design is carried out. The contribution of this work is not limited to the mechanical design of the Reeduc-Knee system. Indeed, to define the minimum parameterizing defining the configuration of the device relative to an absolute reference, a geometric and kinematic study is presented.

scholarly journals A Robotic Device for the Structural Dynamics Inspection of Railway Pantographs through Nonlinearity Tests

2020 ◽  
Vol 53 (2) ◽  
pp. 8476-8481
Author(s):  
G. Santamato ◽  
D. Chiaradia ◽  
M. Solazzi ◽  
A. Frisoli
Keyword(s):  
Structural Dynamics ◽  
Robotic Device

scholarly journals Learning to Control Arm Stiffness Under Static Conditions

2004 ◽  
Vol 92 (6) ◽  
pp. 3344-3350 ◽  
Author(s):  
Mohammad Darainy ◽  
Nicole Malfait ◽  
Paul L. Gribble ◽  
Farzad Towhidkhah ◽  
David J. Ostry
Keyword(s):  
Impedance Control ◽  
Arm Movement ◽  
Realistic Model ◽  
Impedance Change ◽  
Robotic Device ◽  
Lateral Direction ◽  
Maximum Stiffness ◽  
Asymmetric Pattern ◽  
Static Conditions ◽  
Endpoint Stiffness

We used a robotic device to test the idea that impedance control involves a process of learning or adaptation that is acquired over time and permits the voluntary control of the pattern of stiffness at the hand. The tests were conducted in statics. Subjects were trained over the course of 3 successive days to resist the effects of one of three different kinds of mechanical loads: single axis loads acting in the lateral direction, single axis loads acting in the forward/backward direction, and isotropic loads that perturbed the limb in eight directions about a circle. We found that subjects in contact with single axis loads voluntarily modified their hand stiffness orientation such that changes to the direction of maximum stiffness mirrored the direction of applied load. In the case of isotropic loads, a uniform increase in endpoint stiffness was observed. Using a physiologically realistic model of two-joint arm movement, the experimentally determined pattern of impedance change could be replicated by assuming that coactivation of elbow and double joint muscles was independent of coactivation of muscles at the shoulder. Moreover, using this pattern of coactivation control we were able to replicate an asymmetric pattern of rotation of the stiffness ellipse that was observed empirically. These findings are consistent with the idea that arm stiffness is controlled through the use of at least two independent co-contraction commands.

scholarly journals Quantifying age-related differences in human reaching while interacting with a rehabilitation robotic device

2010 ◽  
Vol 7 (4) ◽  
pp. 289-299 ◽  
Author(s):  
Vivek Yadav ◽  
James P. Schmiedeler ◽  
Sharon McDowell ◽  
Lise Worthen-Chaudhari
Keyword(s):  
Robotic Device ◽  
Age Related ◽  
Rehabilitation Robotic

Robotic device for assisted rehabilitation of patients with moderate Spastic Hemiparesis

2010 ◽  
Author(s):  
C. G. Madariaga ◽  
A. Fernandez-Olvera ◽  
G. Garcia-Malo ◽  
D. Lozano ◽  
J. E. Chong-Quero
Keyword(s):  
Robotic Device ◽  
Spastic Hemiparesis
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