scholarly journals Thumbnail Ver/Abrir 2021_Garcia_Perez_Jose_Diseno_implementacion-algoritmos-control-fuerza-robot-rehabilitacion-miembro-superior.pdf (5.367Mb) Use este enlace para citar http://hdl.handle.net/2183/28384 Atribución-NoComercial-CompartirIgual 4.0 Internacional https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es Excepto si se señala otra cosa, la licencia del ítem se describe como Atribución-NoComercial-CompartirIgual 4.0 Internacional https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es Colecciones XLII Jornadas de Automática [103] Metadatos Mostrar el registro completo del ítem Título Diseño e implementación de algoritmos de control de fuerza para un robot de rehabilitación de miembro superior Título(s) alternativo(s) Design and implementation of force control algorithms for an upper-limb rehabilitation robot Autor(es) García Pérez, José Vicente Blanco, A. Catalán Orts, José María Ezquerro, Santiago Álvarez-Pastor, Jesús Arnau-Papí, Jesús García Aracil, Nicolás Fecha 2021 Cita bibliográfica García-Pérez, J. V., Blanco, A., Catalán, J. M., Ezquerro, S., Álvarez-Pastor, J., Arnau-Papí, J., García-Aracil, N. Diseño e implementación de algoritmos de control de fuerza para un robot de rehabilitación de miembro superior. En XLII Jornadas de Automática: libro de actas. Castelló, 1-3 de septiembre de 2021 (pp.515-520). DOI capítulo: https://doi.org/10.17979/spudc.9788497498043.515 DOI libro: https://doi.org/10.17979/spudc.9788497498043 Resumen [Resumen] El envejecimiento de la población aumentará la incidencia de las enfermedades relacionadas con la edad, como los accidentes cerebrovasculares. La robótica ha demostrado ser efectiva en la aplicación de terapias de rehabilitación a personas que presenten una pérdida de movilidad asociada a estas patologías. Existen numerosos sistemas de control apropiados para la interacción entre robots y pacientes en este tipo de terapias. De entre ellos, en este artículo se propone el uso de campos de potencial de fuerza en un dispositivo robótico de rehabilitación de miembro superior para pacientes que hayan sufrido pérdida de movilidad debido a un accidente cerebrovascular. En la primera parte del artículo se expone la formulación de los campos de potencial y se define el dispositivo robótico en el que han sido implementados. Posteriormente, se plantea una experimentación con sujetos sanos para comprobar la validez de esta estrategia de control. Los resultados muestran una disminución del error en los movimientos de los sujetos y abren la puerta a pruebas posteriores con pacientes reales. [Abstract] The aging of population will increase the incidence of age-related diseases, such as strokes. Robotic devices have proven their effectiveness in rehabilitation therapies for people who have a lack of mobility due to these diseases. There are many different systems to control the robot-human interaction in this type of therapies. This article proposes the use of force potential fields in a robotic upper-limb rehabilitation device for stroke patients. In the first part of the article the formulation of the force potential fields is shown and the robotic device used for the study is presented. Finally, an experimentation with healthy subjects is proposed to check the validity of this control strategy. The results show a decrease in the error in the subjects’movements and open the door to further tests with real patients. Palabras clave Robótica de rehabilitación Sistemas de control Campos de potencial de fuerza Robotic rehabilitation Control systems Force potential field Versión del editor https://doi.org/10.17979/spudc.9788497498043.515 Derechos Atribución-NoComercial-CompartirIgual 4.0 Internacional https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es ISBN 978-84-9749-804-3 Buscar en RUC Esta colección Listar Todo RUC Comunidades & Colecciones Por fecha de publicación Autores Títulos Materias Esta colección Por fecha de publicación Autores Títulos Materias Mi cuenta Acceder Registro Estadísticas Ver Estadísticas de uso

2021 ◽  
pp. 515-520
Author(s):  
José Vicente García Pérez ◽  
A. Blanco ◽  
José María Catalán Orts ◽  
Santiago Ezquerro ◽  
Jesús Álvarez-Pastor ◽  
...  
Keyword(s):  
Upper Limb ◽  
Human Interaction ◽  
Potential Fields ◽  
Robotic Rehabilitation ◽  
Upper Limb Rehabilitation ◽  
Age Related ◽  
Palabras Clave ◽  
Robotic Devices ◽  
Limb Rehabilitation ◽  
Force Potential

El envejecimiento de la población aumentará la incidencia de las enfermedades relacionadas con la edad, como los accidentes cerebrovasculares. La robótica ha demostrado ser efectiva en la aplicación de terapias de rehabilitación a personas que presenten una pérdida de movilidad asociada a estas patologías. Existen numerosos sistemas de control apropiados para la interacción entre robots y pacientes en este tipo de terapias. De entre ellos, en este artículo se propone el uso de campos de potencial de fuerza en un dispositivo robótico de rehabilitación de miembro superior para pacientes que hayan sufrido pérdida de movilidad debido a un accidente cerebrovascular. En la primera parte del artículo se expone la formulación de los campos de potencial y se define el dispositivo robótico en el que han sido implementados. Posteriormente, se plantea una experimentación con sujetos sanos para comprobar la validez de esta estrategia de control. Los resultados muestran una disminución del error en los movimientos de los sujetos y abren la puerta a pruebas posteriores con pacientes reales.

scholarly journals Diseño mecánico de un exoesqueleto para rehabilitación de miembro superior

2015 ◽  
Vol 17 (1) ◽  
pp. 79-90 ◽  
Author(s):  
Juan Francisco Ayala Lozano ◽  
Guillermo Urriolagoitia Sosa ◽  
Beatriz Romero Ángeles ◽  
Christopher René Torres San-Miguel ◽  
Luis Antonio Aguilar-Pérez ◽  
...  
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Low Cost ◽  
Structure Design ◽  
Upper Limb Rehabilitation ◽  
Palabras Clave ◽  
Mexican Patient ◽  
Almost All ◽  
Limb Rehabilitation

<strong>Título en ingles: Mechanical design of an exoskeleton for upper limb rehabilitation</strong><p><strong>Título corto: Diseño mecánico de un exoesqueleto</strong></p><p><strong>Resumen:</strong> El ritmo de vida actual, tanto sociocultural como tecnológico, ha desembocado en un aumento de enfermedades y padecimientos que afectan las capacidades físico-motrices de los individuos. Esto ha originado el desarrollo de prototipos para auxiliar al paciente a recuperar la movilidad y la fortaleza de las extremidades superiores afectadas. El presente trabajo aborda el diseño de una estructura mecánica de un exoesqueleto con 4 grados de libertad para miembro superior. La cual tiene como principales atributos la capacidad de ajustarse a la antropometría del paciente mexicano (longitud del brazo, extensión del antebrazo, condiciones geométricas de la espalda y altura del paciente). Se aplicó el método <em>BLITZ QFD</em> para obtener el diseño conceptual óptimo y establecer adecuadamente las condiciones de carga de servicio. Por lo que, se definieron 5 casos de estudio cuasi-estáticos e implantaron condiciones para rehabilitación de los pacientes. Asimismo, mediante el Método de Elemento Finito (MEF) se analizaron los esfuerzos y deformaciones a los que la estructura está sometida durante la aplicación de los agentes externos de servicio. Los resultados presentados en éste trabajo exhiben una nueva propuesta para la rehabilitación de pacientes con problemas de movilidad en miembro superior. Donde el equipo propuesto permite la rehabilitación del miembro superior apoyado en 4 grados de libertad (tres grados de libertad en el hombro y uno en el codo), el cual es adecuado para realizar terapias activas y pasivas. Asimismo, es un dispositivo que está al alcance de un mayor porcentaje de la población por su bajo costo y fácil desarrollo en la fabricación.</p><p><strong>Palabras clave:</strong> MEF, Blitz QFD, exoesqueletos, diseño mecánico.</p><p><strong>Abstract</strong>: The pace of modern life, both socio-cultural and technologically, has led to an increase of diseases and conditions that affect the physical-motor capabilities of persons. This increase has originated the development of prototypes to help patients to regain mobility and strength of the affected upper limb. This work, deals with the mechanical structure design of an exoskeleton with 4 degrees freedom for upper limb. Which has the capacity to adjust to the Mexican patient anthropometry (arm length, forearm extension, geometry conditions of the back and the patient’s height) BLITZ QFD method was applied to establish the conceptual design and loading service conditions on the structure.  So, 5 quasi-static cases of study were defined and conditions for patient rehabilitation were subjected. Also by applying the finite element method the structure was analyzed due to service loading. The results presented in this work, show a new method for patient rehabilitation with mobility deficiencies in the upper limb. The proposed new design allows the rehabilitation of the upper limb under 4 degrees of freedom (tree degrees of freedom at shoulder and one at the elbow), which is perfect to perform active and passive therapy. Additionally, it is an equipment of low cost, which can be affordable to almost all the country population.</p><p><strong>Key words:</strong> FEM, Blitz QFD, exoskeletons, mechanical design<strong>.</strong></p><p><strong>Recibido:</strong> agosto 20 de 2014   <strong>Aprobado:</strong> marzo 26 de 2015</p>

scholarly journals ASSIST AS NEEDED CONTROL STRATEGY FOR UPPER LIMB REHABILITATION ROBOT IN EATING ACTIVITY

2021 ◽  
Vol 22 (1) ◽  
pp. 298-322
Author(s):  
Norsinnira Zainul Azlan ◽  
Nurul Syuhadah Lukman
Keyword(s):  
Upper Limb ◽  
Control Strategy ◽  
Progress Monitoring ◽  
Rehabilitation Robot ◽  
Robotic Rehabilitation ◽  
Rehabilitation Process ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation ◽  
Rehabilitation Exercises ◽  
Capability Level

The slacking behaviour or lack of participation from impaired patients during robotic rehabilitation therapy is one of the factors that slow down their recovery. The implementation of Assist As Needed (AAN) control law in the robotic assisted rehabilitation treatment may alleviate this problem and encourage the patients to be actively involved in the rehabilitation exercises. This paper presents a new Assist As Needed control strategy for an upper limb rehabilitation robot in assisting subjects with various levels of capabilities to regain their original upper limb’s functionality in realizing basic motions in eating activity. The controller consists of Proportional, Integral, Derivative (PID) controller in the feedback loop, with an adjustable gain K that varies according to the user’s level of capability. A Force Sensing Resistor (FSR) is used to identify the user’s upper extremity capability level. The controller regulates the necessary amount of assistance provided by the robot based on the information obtained from the sensor. The automatic adjustment of the robot’s assistance to the subjects leads them to put in their own effort in accomplishing the desired movements. The proposed control strategy is simple, easy to program, and mathematically less complicated. A prototype of the wearable upper limb rehabilitation robot has been built and a Graphical User Interface (GUI) has been developed using MATLAB software to facilitate the rehabilitation process and for progress monitoring. The simulation and experimental results have proven that the proposed control strategy is successful in regulating the necessary amount of robot assistance according to the patients’ level of capability. The proposed controller has effectively driven the upper limb rehabilitation robot to achieve the desired trajectory with zero steady state error, percentage overshoot less than 8% and settling time below 6 seconds, whilst providing the correct amount of robotic assistance in accordance to the subjects’ capability level. ABSTRAK: Reaksi kurang respon dari pesakit kurang keupayaan semasa terapi pemulihan robotik adalah satu faktor melambatkan kadar pemulihan. Pelaksanaan teknik kawalan Bantu Apabila Diperlukan (AAN) dalam rawatan pemulihan dengan bantuan robot dapat membantu dan mendorong pesakit terlibat secara aktif dalam latihan pemulihan. Artikel ini membentangkan strategi kawalan baru, iaitu Bantu Apabila Diperlukan oleh robot pemulihan bagi anggota atas pesakit yang mempunyai pelbagai tahap kemampuan, dalam mengembalikan fungsi asas gerakan tangan seperti aktiviti makan. Teknik kawalan terdiri daripada kawalan Berkadar, Integral, Terbitan (PID) dalam lingkaran tindak balas, dengan pemboleh ubah K mengikut tahap kemampuan pesakit. Alat pengukur Resistan Daya Rasa (FSR) digunakan bagi mengenal pasti tahap kemampuan maksima pesakit dalam menggerakkan tangan. Berdasarkan maklumat yang diperoleh daripada sensor, teknik kawalan akan menghantar maklumat kepada robot bagi membantu pesakit. Bantuan automatik yang dibekalkan robot kepada pesakit akan mendorong pesakit berusaha melakukan gerakan yang diperlukan. Strategi kawalan yang dicadangkan ini adalah ringkas, mudah diprogramkan dan kurang rumit dari segi matematik. Sebuah prototaip robot pemulihan anggota tangan telah dibina dan sebuah platform grafik bagi pengguna (Antara Muka Grafik Pengguna, GUI) telah dibangunkan menggunakan perisian MATLAB bagi memudahkan proses pemulihan dan pemantauan kemajuan pesakit. Hasil simulasi dan eksperimen membuktikan bahawa strategi cadangan kawalan ini berjaya mengatur jumlah bantuan daripada robot bersesuaian dengan tahap kemampuan pesakit. Teknik kawalan yang dicadangkan telah berjaya menggerakkan robot pemulihan tangan bagi mencapai lintasan gerakan yang diinginkan dengan ralat sifar pada keadaan stabil, peratusan ayunan berlebihan kurang daripada 8%, masa penyelesaian bawah 6 saat dan pada masa sama, memberikan maklumat bantuan robot yang tepat, bersesuaian dengan tahap kemampuan pesakit.

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.

scholarly journals A survey on robotic devices for upper limb rehabilitation

2014 ◽  
Vol 11 (1) ◽  
pp. 3 ◽  
Author(s):  
Paweł Maciejasz ◽  
Jörg Eschweiler ◽  
Kurt Gerlach-Hahn ◽  
Arne Jansen-Troy ◽  
Steffen Leonhardt
Keyword(s):  
Upper Limb ◽  
Upper Limb Rehabilitation ◽  
Robotic Devices ◽  
Limb Rehabilitation

scholarly journals Movement Velocity and Fluidity Improve after Armeo®Spring Rehabilitation in Children Affected by Acquired and Congenital Brain Diseases: An Observational Study

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Emilia Biffi ◽  
Cristina Maghini ◽  
Beatrice Cairo ◽  
Elena Beretta ◽  
Elisabetta Peri ◽  
...  
Keyword(s):  
Upper Limb ◽  
Brain Diseases ◽  
Robotic Rehabilitation ◽  
Movement Velocity ◽  
Upper Limb Rehabilitation ◽  
Functional Changes ◽  
Clinical Scales ◽  
Promising Tool ◽  
Limb Rehabilitation ◽  
Two Populations

Background. Children with cerebral palsy (CP) and acquired brain injury (ABI) often exhibit upper limb impairment, with repercussions in their daily activities. Robotic rehabilitation may promote their functional recovery, but evidence of its effectiveness is often based on qualitative functional scales. The primary aim of the present work was to assess movement precision, velocity, and smoothness using numerical indices from the endpoint trajectory of Armeo®Spring. Secondly, an investigation of the effectiveness of robotic rehabilitation in CP and ABI children was performed. Methods. Upper limb functional changes were evaluated in children with CP (N=21) or ABI (N=22) treated with Armeo®Spring (20 45-minute sessions over 4 weeks) using clinical scales and numerical indices computed from the exoskeleton trajectory. Results. Functional scales (i.e., QUEST and Melbourne) were sensitive to changes produced by the treatment for the whole study group and for the two etiology-based subgroups (improvements above Minimal Clinically Importance Difference). Significant improvement was also observed in terms of velocity, fluidity, and precision of the movement through the numerical indices of kinematic performance. Differences in the temporal evolution of the motor outcome were highlighted between the ABI and CP subgroups, pointing toward adopting different rehabilitative protocols in these two populations. Conclusions. Robot-assisted upper limb rehabilitation seems to be a promising tool to promote and assess rehabilitation in children affected by acquired and congenital brain diseases.

Planar Robotic Systems for Upper-Limb Post-Stroke Rehabilitation

2008 ◽  
Author(s):  
Giulio Rosati ◽  
Riccardo Secoli ◽  
Damiano Zanotto ◽  
Aldo Rossi ◽  
Giovanni Boschetti
Keyword(s):  
Upper Limb ◽  
Leading Edge ◽  
Robotic Systems ◽  
Robot Arm ◽  
Chronic Patients ◽  
Upper Limb Rehabilitation ◽  
Post Stroke ◽  
Robotic Therapy ◽  
Robotic Devices ◽  
Limb Rehabilitation

Rehabilitation is the only way to promote recovery of lost function in post-stroke hemiplegic subjects, leading to independence and early reintegration into social and domestic life. In particular, upper limb rehabilitation is fundamental to regain ability in Activities of Daily Living (ADLs). Robot-aided rehabilitation is an emerging field seeking to employ leading-edge robotic systems to increase patient recovery in the rehabilitation treatment. Even though the effectiveness of robotic therapy is still being discussed, the use of robotic devices can increase therapists’ efficiency by alleviating the labor-intensive aspects of physical rehabilitation, and can produce a reduction in treatment costs. This paper presents a comparison between different planar robotic devices designed for upper-limb rehabilitation in chronic patients. A planar configuration of the workspace leads to straightforward mechanical and control system design, and allows to define very simple and understandable treatment exercises. Also, the graphical user interface becomes very intuitive for the patient, and a set of Cartesian-based measures of the patient’s performance can be defined easily. In the paper, SCARA (Selective Compliance Assembly Robot Arm) robots such as the MIT-Manus, Cartesian robots and cable-driven robots are considered and compared in terms of inertial properties and force exertion capabilities. Two cable-driven devices, designed at the Robotics Lab of the Department if Innovation In Mechanics and Management, University of Padua, Italy, are presented for the first time. The first robot employs four driven cables to produce a planar force on the end-effector, whereas the second one is based on a three-cable configuration plus a linear actuator to obtain better overall robot performance.

scholarly journals Tele-Rehabilitation Versus Local Rehabilitation Therapies Assisted by Robotic Devices: A Pilot Study with Patients

2021 ◽  
Vol 11 (14) ◽  
pp. 6259
Author(s):  
José M. Catalán ◽  
José V. García-Pérez ◽  
Andrea Blanco ◽  
Santiago Ezquerro ◽  
Alicia Garrote ◽  
...  
Keyword(s):  
Pilot Study ◽  
Robotic Rehabilitation ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Outcomes ◽  
Robotic Devices ◽  
Point To Point ◽  
Limb Rehabilitation ◽  
Level Of Effort ◽  
Rehabilitation Exercise ◽  
Rehabilitation Robotic

The present study aims to evaluate the advantages of a master-slave robotic rehabilitation therapy in which the patient is assisted in real-time by a therapist. We have also explored if this type of strategy is applicable in a tele-rehabilitation environment. A pilot study has been carried out involving 10 patients who have performed a point-to-point rehabilitation exercise supported by three assistance modalities: fixed assistance (without therapist interaction), local therapist assistance, and remote therapist assistance in a simulated tele-rehabiliation scenario. The rehabilitation exercise will be performed using an upper-limb rehabilitation robotic device that assists the patients through force fields. The results suggest that the assistance provided by the therapist is better adapted to patient needs than fixed assistance mode. Therefore, it maximizes the patient’s level of effort, which is an important aspect to improve the rehabilitation outcomes. We have also seen that in a tele-rehabilitation environment it is more difficult to assess when to assist the patient than locally. However, the assistance suits patients better than the fixed assistance mode.

scholarly journals Influence of Cognitive Impairment on the Recovery of Subjects with Subacute Stroke Undergoing Upper Limb Robotic Rehabilitation

2021 ◽  
Vol 11 (5) ◽  
pp. 587
Author(s):  
Irene Aprile ◽  
Giulia Guardati ◽  
Valeria Cipollini ◽  
Dionysia Papadopoulou ◽  
Serena Monteleone ◽  
...  
Keyword(s):  
Cognitive Impairment ◽  
Spatial Attention ◽  
Upper Limb ◽  
Motor Recovery ◽  
Robotic Rehabilitation ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Intervention ◽  
Subacute Stroke ◽  
Cognitive Screen ◽  
Limb Rehabilitation

Cognitive decline is often present in stroke survivors, with a significant impact on motor recovery. However, how specific cognitive domains could impact motor recovery after robotic rehabilitation in patients with stroke is still not well understood. In this study, we analyzed the relationship between cognitive impairment and the outcome of a robot-mediated upper limb rehabilitation intervention in a sample of 51 subacute stroke patients. Participants were enrolled and treated with a set of robotic and sensor-based devices. Before the intervention, patients underwent a cognitive assessment by means of the Oxford Cognitive Screen. To assess the effect of the 30-session rehabilitation intervention, patients were assessed twice with the following outcome measures: the Fugl-Meyer Assessment for Upper Extremity (FMA-UE), to evaluate motor function; the Upper limb Motricity Index (MI), to evaluate upper limb muscle strength; the Modified Barthel Index (mBI), to evaluate activities of daily living and mobility. We found that deficits in spatial attention and executive functions impacted the mBI improvement, while language, number processing, and spatial attention deficits reduced the gains in the FMA-UE. These results suggest the importance to evaluate the cognitive functions using an adequate tool in patients with stroke undergoing a robotic rehabilitation intervention.

scholarly journals Upper Limb Robotics in Rehabilitation: An Approach to Select the Devices, Based on Rehabilitation Aims, and Their Evaluation in a Feasibility Study

2019 ◽  
Vol 9 (18) ◽  
pp. 3920 ◽  
Author(s):  
Aprile ◽  
Cruciani ◽  
Germanotta ◽  
Gower ◽  
Pecchioli ◽  
...  
Keyword(s):  
Clinical Practice ◽  
Upper Limb ◽  
Multidisciplinary Approach ◽  
Ad Hoc ◽  
Upper Limb Rehabilitation ◽  
Before And After ◽  
Robotic Devices ◽  
Viable Approach ◽  
Limb Rehabilitation ◽  
Drop Outs

Robot-mediated therapy is a viable approach for upper limb rehabilitation. The upper limb is a highly complex segment and the identification of the appropriate devices capable of rehabilitating it globally (from the shoulder to the hand) in clinical practice is crucial. In this work, we aimed: (i) to describe an approach used in identifying a set of technological and robotic devices to globally treat the upper limb, and (ii) to evaluate the feasibility of the identified set in clinical practice. Using an ad-hoc form, a multidisciplinary team identified a set of four robotic and sensor-based devices to treat globally the upper limb. Then, 30 stroke patients were enrolled and assigned to two groups: the robotic group (RG), where patients were treated with the robotic set, or the conventional group (CG). All patients were evaluated before and after the treatment. In the RG the patients used all the devices (one in each rehabilitation session); the treatment was well accepted, without drop-outs or adverse events. Using a multidisciplinary approach, we identified a set of technological and robotic devices to treat the upper limb globally, and then we experimented to ascertain its feasibility, in a pilot study. Robotics offers a considerable number of devices for rehabilitation that should be selected according to rehabilitation aims and feasibility in clinical practice.

scholarly journals Robotic Orthosis for Upper Limb Rehabilitation

Proceedings ◽  
2020 ◽  
Vol 64 (1) ◽  
pp. 10
Author(s):  
Fernanda Márcia Rodrigues Martins Ferreira ◽  
Guilherme de Paula Rúbio ◽  
Fabrício Henrique de Lisboa Brandão ◽  
Arthur Mazzini da Mata ◽  
Natália Batista Castilho de Avellar ◽  
...  
Keyword(s):  
Upper Limb ◽  
Mobile Application ◽  
Upper Limb Rehabilitation ◽  
Post Stroke ◽  
Structural Reinforcement ◽  
Robotic Orthosis ◽  
Robotic Devices ◽  
Limb Rehabilitation ◽  
Rope System ◽  
Flexion And Extension

Individuals with impaired upper limbs have motor limitations that interfere with functionality. An alternative to rehabilitation is robot-assisted therapy, a method that increases the effectiveness of treatment. New robotic actuators have been developed to assist in the rehabilitation of the upper limb. One of them aims to actively perform finger extension and flexion passively, using a servo motor coupled to a rope system. At the elbow, a direct current (DC) motor combined with a gearbox was coupled to a system of pulleys and ropes designed to actively perform flexion and extension movements. To activate the system, an Arduino-NANO® and a mobile application for Android were used. The performance of the prototype was evaluated in four post-stroke volunteers. The ability to perform the proposed movements with the device was observed. Structural reinforcement was necessary, after twisting the elbow support structure, with pronation of the forearm, resulting in increased component weight. This work presented new robotic devices that can assist in the rehabilitation of post-stroke individuals.

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