A novel paradigm for patient-cooperative control of upper-limb rehabilitation robots

2007 ◽  
Vol 21 (8) ◽  
pp. 843-867 ◽  
Author(s):  
Matjaž Mihelj ◽  
Tobias Nef ◽  
Robert Riener
Keyword(s):  
Upper Limb ◽  
Cooperative Control ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Robots ◽  
Limb Rehabilitation

Kinematic Design Consideration Based on Actuator Placement of Five-Bar Planar Robot for Arm Rehabilitation

2014 ◽  
Vol 625 ◽  
pp. 638-643 ◽  
Author(s):  
Jung Hyun Choi ◽  
Dong Hwan Shin ◽  
Tae Sang Park ◽  
Choong Pyo Jeong ◽  
Jeon Il Moon ◽  
...  
Keyword(s):  
Upper Limb ◽  
Point Of View ◽  
Planar Mechanisms ◽  
Upper Limb Rehabilitation ◽  
Kinematic Design ◽  
Rehabilitation Robots ◽  
Arm Rehabilitation ◽  
Critical Issues ◽  
Limb Rehabilitation ◽  
Actuator Placement

In the design of upper limb rehabilitation robots, critical issues to be considered are large workspace with minimum singularities to cover enough patients’ upper limb range of motion and higher manipulability for the patients to easily and freely move their arm with applying almost the same force to every direction in a given posture. This paper presents an analysis of the suggested kinematic design considerations of five-bar planar mechanism according to the actuator locations. A comparison between two different five-bar linkage types is given. Finally, several open challenges for the applicability of five-bar planar mechanisms are discussed from the kinematic point of view to upper limb rehabilitation robots.

scholarly journals A Review on Upper Limb Rehabilitation Robots

2020 ◽  
Vol 10 (19) ◽  
pp. 6976
Author(s):  
Hassan M. Qassim ◽  
W. Z. Wan Hasan
Keyword(s):  
Upper Limb ◽  
Rehabilitation Process ◽  
Upper Limb Rehabilitation ◽  
Post Stroke ◽  
Rehabilitation Robots ◽  
The Common ◽  
Limb Rehabilitation

Rehabilitation is the process of treating post-stroke consequences. Impaired limbs are considered the common outcomes of stroke, which require a professional therapist to rehabilitate the impaired limbs and restore fully or partially its function. Due to the shortage in the number of therapists and other considerations, researchers have been working on developing robots that have the ability to perform the rehabilitation process. During the last two decades, different robots were invented to help in rehabilitation procedures. This paper explains the types of rehabilitation treatments and robot classifications. In addition, a few examples of well-known rehabilitation robots will be explained in terms of their efficiency and controlling mechanisms.

Analysis on State of the Art of Upper Limb Rehabilitation Robots

ROBOT ◽  
2013 ◽  
Vol 35 (5) ◽  
pp. 630 ◽  
Author(s):  
Qizhi YANG ◽  
Dianfeng CAO ◽  
Jinhai ZHAO
Keyword(s):  
Upper Limb ◽  
State Of The Art ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Robots ◽  
Limb Rehabilitation

scholarly journals Configuration Design of an Upper Limb Rehabilitation Robot with a Generalized Shoulder Joint

2021 ◽  
Vol 11 (5) ◽  
pp. 2080
Author(s):  
Hao Yan ◽  
Hongbo Wang ◽  
Peng Chen ◽  
Jianye Niu ◽  
Yuansheng Ning ◽  
...  
Keyword(s):  
Upper Limb ◽  
Shoulder Joint ◽  
Configuration Model ◽  
Configuration Design ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Robots ◽  
Closed Chain ◽  
Limb Rehabilitation ◽  
Human Upper Limb

For stroke patients with upper limb motor dysfunction, rehabilitation training with the help of rehabilitation robots is a social development trend. Existing upper limb rehabilitation robots have difficulty fully fitting the complex motion of the human shoulder joint and have poor human–robot compatibility. In this paper, based on the anatomical structure of the human upper limb, an equivalent mechanism model of the human upper limb is established. The configuration synthesis of the upper limb rehabilitation mechanism was carried out, a variety of shoulder joint man–machine closed-chain Θs and shoulder elbow human–machine closed-chain Θse configuration combinations were synthesized, and the configuration model with compatibility and reduced moment conduction attenuation was selected from them. Two configurations, 2Pa1P3Ra and 5Ra1P, are proposed for the generalized shoulder joint mechanism of the robot. The closed-chain kinematic models of the two configurations are established, and the velocity Jacobian matrix is obtained. Motion performance analysis, condition reciprocal analysis and operability ellipsoid analysis of different configuration design schemes were carried out in different operation planes. The results show that in the normal upper limb posture of the human body, the 5Ra1P configuration of the shoulder joint has better kinematic performance. Finally, on this basis, an upper limb rehabilitation robot prototype with good human–computer compatibility is developed, and its moving space was verified.

scholarly journals Sliding Mode Control for 2 Degrees of Freedom Upper Limb Rehabilitation Robotic System under Uncertainties

2019 ◽  
Vol 9 (2) ◽  
pp. 3268-3274
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
Upper Limb Rehabilitation ◽  
Mode Control ◽  
Rehabilitation Robots ◽  
High Frequency Oscillations ◽  
Limb Rehabilitation

Rehabilitation of patients suffering from post-stroke injuries via robots is now adapted word widely. The aim of this therapy is to restore and improve the dysfunction and the performance of the affected limbs doing repetitive tasks with the help of rehabilitation robots, as robots are best way to perform repetitive task without any monotony failure. Control of these rehabilitation robots is an important part to consider because of nonlinearity and uncertainty of the system. This paper presents nonlinear sliding mode controller (SMC) for controlling a 2 degrees of freedom (DOF) upper limb robotic manipulator. Sliding mode control is able to handle system uncertainties and parametric changes. One drawback of using SMC is high frequency oscillations called as chattering. This chattering can be reduced by using boundary layer technique. Experiments have been carried out under perturbed conditions and results have shown that SMC performs well and remain stable and thus proves to robust controller for upper limb robotic manipulator.

scholarly journals Robotics in physical medicine and neurorehabilitation

2021 ◽  
Vol 74 (1-2) ◽  
pp. 50-53
Author(s):  
Vesna Pausic ◽  
Grigorije Jovanovic ◽  
Svetlana Simic
Keyword(s):  
Upper Limb ◽  
Rehabilitation Robotics ◽  
Robotic Systems ◽  
Upper Body ◽  
Physical Medicine ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Robots ◽  
Robotic Devices ◽  
The 1960S ◽  
Limb Rehabilitation

Introduction. Robots have been used for rehabilitation purposes since the 1960s. The aim of this paper is to present the application of robotics in physical medicine and rehabilitation with special reference to robotic devices used in rehabilitation. Material and Methods. The paper uses literature related to the application of robotics in medicine and rehabilitation. The literature review was conducted using the following databases: Serbian Library Consortium for Coordinated Acquisition, Medical Literature Analysis and Retrieval System, Google Scholar, Science Citation Index, and portal of Croatian scientific journals ?Hrcak?. Development of robotics in rehabilitation. Nowadays, there are a great number of different robotic systems for rehabilitation. Robotics in rehabilitation is of utter importance because it works on the principle of neuroplasticity. Robots for lower limb rehabilitation. These robotic systems are most often in the form of exoskeletons. Robots for upper limb rehabilitation. Upper limb rehabilitation robots are therapeutic devices that help or provide support for arm or hand movements. Robot for upper body rehabilitation. Robot ?Tymo?. Conclusion. By using robots in physical medicine and neurorehabilitation, a faster and more complete functional recovery of the patient can be achieved.

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