Preliminary Evaluation of the Workspace for Upper Limb Robotic Rehabilitation with 3-Dimensional Reaching Tasks

In the last two decades robotic rehabilitation research provided significant insight regarding the human-robot interaction, helped understand the process by which the impaired nervous system is retrained to better control movements, and led to the development of a number of mathematical and neurophysiological models that describe both the human motion and the robot control. The human-machine interaction in this research is typically achieved through robotic devices that are based on open kinematic chains. These devices have multiple degrees of freedom (DOF), sophisticated computer control, actuation and sensing. The flexibility of such approach enables the easy implementation of the various models and methods that have to be applied in order to maximize the potential of robotic rehabilitation. On the other hand, mechanisms with fewer DOF’s that are based on closed kinematic chains can generate specific, yet adequate trajectories for the purposes of robotic rehabilitation. An example of such mechanisms is four-bar linkages that have only 1-DOF but yet can generate paths with complex kinematic characteristics. Design and analysis of four-bar linkages is used to achieve a variety of kinematics in terms of trajectory, velocity and acceleration profiles. The simplicity of these mechanisms is appealing and they can be used in rehabilitation due to their ability to replicate the motion of various human joints and limbs. The focus of the current work is to study the use of a four-bar linkage for generating the natural motion of upper-limb reaching tasks with the intention of using this mechanism for rehabilitation. This natural hand motion is described by a straight-line trajectory with a smooth bellshaped velocity profile, which in turn is generated by the well-established Minimum Jerk Model (MJM). The goal is to design passive control elements in a four-bar linkage that generate the required torque for producing the MJM motion. The passive elements are two linear translational springs that act on the driving link of a straight line generating mechanism. A design optimization is used to minimize the difference between the desired and actual input spring torque while remaining within the predefined design space. The final arrangement is simulated in a Multibody Dynamics software that applies feed-forward dynamics to generate the mechanism’s free response to the torque generated by the designed linear springs. The results of this work suggest that systematic design of a four-bar linkage can lead to simple mechanisms that can replicate the natural motion of reaching tasks. Relatively inexpensive linear springs can be employed in the design of passive-active controlled therapeutic mechanisms. Further investigation that combines analysis of both active and passive control/actuation elements must be performed for finalizing the control design. Simulations and analysis that incorporate various impaired hand responses must be also performed in order to finalize the design.

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Robotic Rehabilitation and Assistance for Individuals With Movement Disorders Based on a Kinematic Model of the Upper Limb

IEEE Transactions on Medical Robotics and Bionics ◽

10.1109/tmrb.2021.3050512 ◽

2021 ◽

Vol 3 (1) ◽

pp. 190-203

Author(s):

Carlos Rossa ◽

Mohammad Najafi ◽

Mahdi Tavakoli ◽

Kim Adams

Keyword(s):

Upper Limb ◽

Movement Disorders ◽

Kinematic Model ◽

Robotic Rehabilitation

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Robotic rehabilitation therapy combined with transcranial direct current neuromodulation for the recovery of the upper limb in the subacute phase of stroke

Annals of Physical and Rehabilitation Medicine ◽

10.1016/j.rehab.2014.03.038 ◽

2014 ◽

Vol 57 ◽

pp. e12

Author(s):

G. Maggioni ◽

I. Passaro ◽

R. Colombo ◽

I. Sterpi ◽

A. Giustini ◽

...

Keyword(s):

Upper Limb ◽

Direct Current ◽

Robotic Rehabilitation ◽

Subacute Phase ◽

Rehabilitation Therapy

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Evaluation of an upper limb robotic rehabilitation program on motor functions, quality of life, cognition, and emotional status in patients with stroke: a randomized controlled study

Neurological Sciences ◽

10.1007/s10072-021-05431-8 ◽

2021 ◽

Author(s):

Sahel Taravati ◽

Kazim Capaci ◽

Hale Uzumcugil ◽

Goksel Tanigor

Keyword(s):

Quality Of Life ◽

Upper Limb ◽

Rehabilitation Program ◽

Randomized Controlled Study ◽

Controlled Study ◽

Emotional Status ◽

Robotic Rehabilitation ◽

Motor Functions ◽

Randomized Controlled

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Controlling of a ROS-based robotic system in accordance to the assist-as-needed principle in end-effector based rehabilitation systems

Current Directions in Biomedical Engineering ◽

10.1515/cdbme-2018-0049 ◽

2018 ◽

Vol 4 (1) ◽

pp. 199-202

Author(s):

Sebastian Becker ◽

Wiebke Hinterlang ◽

Tim Eschert ◽

Catherine Disselhorst-Klug

Keyword(s):

Impedance Control ◽

Proximal Part ◽

The Elderly ◽

Subjective Assessment ◽

Robot Kinematics ◽

Robotic Rehabilitation ◽

End Effector ◽

3 Dimensional ◽

The Central Nervous System ◽

Robotic Devices

AbstractStroke is one of the most frequent diseases among the elderly and often leads to an ongoing failure of functions in the central nervous system. Due to the plasticity of the brain affected may regain lost motor function by repetitive training. Robotic devices can be an approach to accelerate the rehabilitation process by maximizing patients’ training intensity. End-effector based robotic systems are particularly suitable for this purpose and often an advantage over exoskeletons since the proximal part of the upper limb remains under the control of the patient. Furthermore, the integration of the assistas- needed principle (AAN) into these devices enables individualized, adaptable robotic support to patients during therapy. In this study an end-effector based robotic rehabilitation device based on the Robot Operating System (ROS) framework is introduced. The system allows patients to perform 3- dimensional movements without a therapist’s assistance. With regard to the AAN, focus was based on impedance control and an additional real-time adaption of the impedance control parameters by using a feedback loop. 10 healthy subjects took part in this study to evaluate the overall concept with regard to usability and quality of the supported movement. Hence, the three most promising adaption models of AAN (without adaption, adaption according to position and time, adaption according to velocity) under three different levels of movement support (0%, 50%, 100%) were investigated by administering a self-designed questionnaire and the robot kinematics. The results showed no significant differences between the three different adaption models of AAN. However, the subjective assessment of the movements was in keeping with robot kinematics and the control approaches as well as the overall system have experienced remarkable support.

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