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

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.

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Mechanism Design and Kinematics Positive Solution of the Exoskeleton Upper Limb Rehabilitation Robot with 6-DOF

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.744.74 ◽

2013 ◽

Vol 744 ◽

pp. 74-77 ◽

Cited By ~ 2

Author(s):

Hui Zhang ◽

Yong Xing Wang ◽

Sheng Ze Wang

Keyword(s):

Positive Solution ◽

Upper Limb ◽

Shoulder Joint ◽

Rehabilitation Medicine ◽

Rehabilitation Robot ◽

Joint Motion ◽

Guide Rail ◽

Upper Limb Rehabilitation ◽

Limb Rehabilitation ◽

Human Upper Limb

According to the clinical rehabilitation medicine theory and the characteristics of human upper limb rehabilitation robot, a dexterous rehabilitation mechanical arm with 6-DOF is designed to satisfy the need of rehabilitation in this paper. By analyzing the six cases of the 3-DOF serial distribution and the kinematic relation of the shoulder joint, the spherical joint motion of the shoulder joint is achieved by using the circular arc guide rail. Two serial mechanism approaches of the shoulder joint using PRR and RRP type are provided. After comparing these designs, the PRR type is selected, the kinematics positive solution of this type is given.

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Design and Evaluation of Passive Shoulder Joint Tracking Module for Upper-Limb Rehabilitation Robots

Frontiers in Neurorobotics ◽

10.3389/fnbot.2018.00038 ◽

2018 ◽

Vol 12 ◽

Cited By ~ 3

Author(s):

Kyoung-Soub Lee ◽

Jeong-Ho Park ◽

Jaewon Beom ◽

Hyung-Soon Park

Keyword(s):

Upper Limb ◽

Shoulder Joint ◽

Upper Limb Rehabilitation ◽

Rehabilitation Robots ◽

Limb Rehabilitation ◽

Joint Tracking ◽

Tracking Module

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Musculoskeletal Analysis of Upper Limb Rehabilitation Robot Prototype

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.833.196 ◽

2016 ◽

Vol 833 ◽

pp. 196-201 ◽

Cited By ~ 1

Author(s):

Shahrol Mohamaddan ◽

Annisa Jamali ◽

Noor Aliah Abd Majid ◽

Mohamad Syazwan Zafwan Mohamad Suffian

Keyword(s):

Upper Limb ◽

Vertical Movement ◽

Human Model ◽

Rehabilitation Robot ◽

Upper Limb Rehabilitation ◽

The Third ◽

Hardware Development ◽

Limb Rehabilitation ◽

Human Upper Limb ◽

Rehabilitation Exercise

Stroke is the third largest cause of death in Malaysia. Different approaches including hardware development and simulation were conducted to support the conventional rehabilitation courses. New upper limb rehabilitation robot prototype was developed for this research. The prototype consists of horizontal and vertical movement exercise. The prototype was modeled and simulated using ergonomics optimization software known as AnyBody. This paper presents the analysis of human upper limb muscles during rehabilitation exercise using virtual human model. The result shows that eleven muscle areas were affected during the rehabilitation exercise using new prototype.

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Development of a passive shoulder joint tracking device for upper limb rehabilitation robots

2015 IEEE International Conference on Rehabilitation Robotics (ICORR) ◽

10.1109/icorr.2015.7281285 ◽

2015 ◽

Cited By ~ 4

Author(s):

Jeong-Ho Park ◽

Kyoung-Soub Lee ◽

Hangil Lee ◽

Hyung-Soon Park

Keyword(s):

Upper Limb ◽

Shoulder Joint ◽

Upper Limb Rehabilitation ◽

Rehabilitation Robots ◽

Tracking Device ◽

Limb Rehabilitation ◽

Joint Tracking

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Human-robot coupling modeling and analysis for upper limb rehabilitation robots

Technology and Health Care ◽

10.3233/thc-202424 ◽

2020 ◽

pp. 1-15

Author(s):

Qiaolian Xie ◽

Qiaoling Meng ◽

Yue Dai ◽

Qingxin Zeng ◽

Yuanjie Fan ◽

...

Keyword(s):

Upper Limb ◽

Dynamic Control ◽

Human Robot Interaction ◽

Rehabilitation Robot ◽

Robot Interaction ◽

Upper Limb Rehabilitation ◽

Modeling And Analysis ◽

Rehabilitation Robots ◽

Human Arm ◽

Limb Rehabilitation

BACKGROUND: Upper limb rehabilitation robots have become an important piece of equipment in stroke rehabilitation. Human-robot coupling (HRC) dynamics play a key role in the control of rehabilitation robots to improve human-robot interaction. OBJECTIVE: This study aims to study the methods of modeling and analysis of HRC dynamics to realize more accurate dynamic control of upper limb rehabilitation robots. METHODS: By the analysis of force interaction between the human arm and the upper limb rehabilitation robot, the HRC torque is achieved by summing up the robot torque and the human arm torque. The HRC torque and robot torque of a 2-DOF upper limb rehabilitation robot (FLEXO-Arm) are solved by Lagrangian equation and step-by-step dynamic parameters identification method. RESULTS: The root mean square (RMS) is used to evaluate the accuracy of the HRC torque and the robot torque calculated by the parameter identification, and the error of both is about 10%. Moreover, the HRC torque and the robot torque are compared with the actual torque measured by torque sensors. The error of the robot torque is more than twice the HRC. Therefore, the HRC torque is more accurate than the actual torque. CONCLUSIONS: The proposed HRC dynamics effectively achieves more accurate dynamic control of upper limb rehabilitation robots.

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Using proposed optimization algorithm for solving inverse kinematics of human upper limb applying in rehabilitation robotic

Artificial Intelligence Review ◽

10.1007/s10462-021-10041-z ◽

2021 ◽

Author(s):

Trung Nguyen ◽

Tam Bui ◽

Ha Pham

Keyword(s):

Upper Limb ◽

Inverse Kinematics ◽

Search Space ◽

Human Motion ◽

Robot Arm ◽

Upper Limb Rehabilitation ◽

Rehabilitation Robots ◽

Inverse Kinematics Problem ◽

Limb Rehabilitation ◽

Human Upper Limb

AbstractThe requirement to solve the problem of Inverse Kinetics (IK) plays a very important role in the robotics field in general, and especially in the field of rehabilitation robots, in particular. If the solutions of this problem are not suitable, it can cause undesirable damage to the patient when exercising. Normally, the problem of Inverse Kinematics in the robotics field, as well as the natural field, especially for redundant driven systems, often requires the application of a lot of techniques. The redundancy in Degree of Freedom (DoF), the nonlinearity of the system leads to solve inverse kinematics problem more challenge. In this study, we proposed to apply the self-adaptive control parameters in Differential Evolution with search space improvement (Pro-ISADE) to solve the problem for the human upper limb, which is a very typical redundancy model in nature. First of all, the angles of the joints were measured by a proposed Exoskeleton type Human Motion Capture System (E-HMCS) when the wearer performs some Activities of Daily Living (ADL) and athletic activities. The values of these measured angles joints then were put into the forward kinematics model to find the end effector trajectories. After having these orbits, they were re-fed into the proposed Pro-ISADE algorithm mentioned above to process the IK problem and obtain the predicted joints angular values. The experimental results showed that the predicted joints’ values closely follow the measured joints’ values. That demonstrates the ability to apply the Pro-ISADE algorithm to solve the problem of Inverse Kinetics of the human upper limb as well as the upper limb rehabilitation robot arm.

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DEVELOPMENT AND ANALYSIS OF A BILATERAL END-EFFECTER UPPER LIMB REHABILITATION ROBOT

Journal of Mechanics in Medicine and Biology ◽

10.1142/s0219519421500329 ◽

2021 ◽

pp. 2150032

Author(s):

LEIGANG ZHANG ◽

SHUAI GUO ◽

QING SUN

Keyword(s):

Upper Limb ◽

Rehabilitation Robot ◽

Healthy Human Subject ◽

Unaffected Side ◽

Healthy Human ◽

Upper Limb Rehabilitation ◽

Rehabilitation Training ◽

Limb Rehabilitation ◽

Human Upper Limb ◽

Training Protocol

Studies have shown that rehabilitation training with the unaffected side guiding affected side is more consistent with the natural movement pattern of human upper limb compared with unilateral rehabilitation training, which is conducive to improve rehabilitation effect of the affected limb motor function. In this paper, a bilateral end-effector upper limb rehabilitation robot (BEULRR) based on two modern commercial manipulators is developed first, then the kinematics, reachability, and dexterity analysis of BEULRR are performed, respectively. Finally, a bilateral symmetric training protocol with the unaffected side guiding the affected side is proposed and evaluated through healthy human subject experiment testing based on BEULRR. The simulation results show that the developed BEULRR could perform spatial rehabilitation training and its rehabilitation training workspace can fully cover the physiological workspace of human upper limb. The preliminary experiment results from the healthy human subject show that the BEULRR system could provide reliable bilateral symmetric training protocol. These simulation and experiment results demonstrated that the developed BEULRR system could be used in bilateral rehabilitation training application, and also show that the BEULRR system has the potential to be applied to clinical rehabilitation training in the further step. In the close future, the proposed BEULRR and bilateral symmetric training protocol are planned to be applied in elderly volunteers and patients with upper limb motor dysfunction for further evaluating.

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