scholarly journals Kineto-Static Analysis of a Wrist Rehabilitation Robot with Compliance and Passive Joints for Joint Misalignment Compensation

Machines ◽  
2020 ◽  
Vol 8 (2) ◽  
pp. 23 ◽  
Author(s):  
Ying-Chi Liu ◽  
Yukio Takeda
Keyword(s):  
Static Analysis ◽  
Soft Part ◽  
Robot Design ◽  
Rehabilitation Robot ◽  
Wearable Robot ◽  
Interaction Forces ◽  
Passive Joint ◽  
Willingness To Use ◽  
Device Interaction ◽  
User Device

In this paper, we present a kineto-static analysis on a wrist rehabilitation robot to compensate for joint misalignment between human and robot joints. Since joint misalignment has proved to generate user–device interaction forces, which reduce the comfort and safety of the wearable devices and limit the user’s willingness to use it. The use of compliance and the addition of passive joints for joint misalignment compensation are discussed. In order to study the effect of the initial offset, we find that the initial offset in the direction perpendicular to the forearm causes a larger unwanted force. In addition, the use of the softest compliance can minimize unwanted force by 38% compared to the case without compliance. Furthermore, the effect of the addition of passive joints to the exoskeleton is investigated. From the analysis results, the soft part of the human being is regarded as a passive joint with the ability to compensate for joint misalignment. Moreover, the influence of the soft characteristics of human limbs should be considered when designing a wearable robot. This soft property, causing the movement of the braces, results in reducing the angular range of the wrist. Through the analysis results, we provide effective ideas for joint misalignment compensation to fulfill a comfortable and safer robot design.

scholarly journals Joint design and torque feedback experiment of rehabilitation robot

2020 ◽  
Vol 12 (5) ◽  
pp. 168781402092449 ◽  
Author(s):  
Liang Tang ◽  
Guanjun Liu ◽  
Min Yang ◽  
Feiyang Li ◽  
Fangping Ye ◽  
...  
Keyword(s):  
Design Process ◽  
Impedance Control ◽  
Force Sensor ◽  
Robot Design ◽  
Dynamic Force ◽  
Rehabilitation Robot ◽  
Force Output ◽  
Upper Limb Rehabilitation ◽  
Time Dynamic ◽  
Output Performance

The performance of the real-time dynamic force and torque compensation, flexible force interactive control, and the ability to compensate for the defect of the passive rehabilitation training are the important functions within the rehabilitation robot design process. In this investigation, the upper limb rehabilitation robot is designed, and the force sensor is used to measure the joint feedback torque with high precision, high sensitivity, and low cost. In the rehabilitation robot design process, the human–machine adaptability and lightweight flexible driving design are considered, and the static and dynamic moment detection performances of the driving joint are analyzed. Furthermore, the impedance control algorithm is used to control the force output of the single drive joint, and then the sinusoidal force output performance and step force output performance are tested under different amplitudes and frequencies. Finally, the passive rehabilitation mode of the prototype is tested to evaluate the performance of the rehabilitation robot. The results show that the force output accuracy and stability of the driving joint has a good performance, which can satisfy the force-assisted application of exoskeleton.

Medical Device Usability Analyses

2013 ◽  
Vol 2 (1) ◽  
pp. 123-130 ◽  
Author(s):  
Kristi R. Campoe
Keyword(s):  
Medical Device ◽  
Care Setting ◽  
Healthcare Providers ◽  
Pain Medication ◽  
Intravenous Route ◽  
Acute Care Setting ◽  
Patient Controlled Analgesia ◽  
Device Interaction ◽  
System Errors ◽  
User Device

Errors committed during healthcare providers’ use of patient controlled analgesia (PCA) systems in the acute care setting are poorly understood. A PCA is a complex, medical device that delivers a prescribed pain medication primarily through the intravenous route into the patient. The benefits of PCA use are numerous, but PCAs are also a known source of errors resulting in patient injury. Human factors usability analyses are methods to identify and mitigate factors that contribute to errors during user-device interaction. The purpose of this paper is to present the findings from an integrative review of published medical device usability analyses and to provide the foundation for future empirical research to improve our understanding of PCA system errors.

Trust and autonomy for regulating the users’ acceptance of IoT technologies

2020 ◽  
Vol 14 (1) ◽  
pp. 45-58
Author(s):  
Rino Falcone ◽  
Alessandro Sapienza
Keyword(s):  
Theoretical Model ◽  
Organizational Structure ◽  
Selection Process ◽  
Not Given ◽  
The Creation ◽  
Iot Devices ◽  
Device Interaction ◽  
Cognitive Attitudes ◽  
User Device

 The success of IoT technologies is undeniable. They are entering more and more in our lives, carrying out increasingly complex tasks. However, there are still a few problems we need to face and solve. For instance, it is not given that the users will be prepared to afford all the automation that IoT devices will offer or that it will be compatible with the users’ cognitive attitudes and its actual and real goals. Within this work, we start analyzing which reasons undermine the acceptance of IoT systems and then we propose a possible solution, tanking into account not just the user-device interaction, but also how this affects the device-device interaction. Since the complexity of the tasks the user asks may require the cooperation of some devices to be realized, the regulation of this relationship represents a necessary step for this technology. The first contribution of this work is the level characterization of the autonomy a user can grant to an IoT device. The second contribution is a theoretical model to deal with users and to stimulate users’ acceptance, taking also into account a possible, collaborative organizational structure, to manage the creation of groups and the partners’ selection process.

Kinematics Analysis and Simulation of Upper Limb Rehabilitation Robot

2014 ◽  
Vol 701-702 ◽  
pp. 711-714
Author(s):  
De Dong Tang ◽  
Ya Qi Zhang ◽  
Yi Liu
Keyword(s):  
Upper Limb ◽  
Robot Design ◽  
Rehabilitation Robot ◽  
Kinematics Analysis ◽  
Upper Limb Rehabilitation ◽  
Pneumatic Muscle ◽  
Working Space ◽  
Simulation Results ◽  
Limb Rehabilitation ◽  
Muscle Simulation

In order to solve the deficiency of existing rehabilitation robot a novel upper limb rehabilitation robot structure is designed. Kinematics model is established by the method of Denavit-Hartenberg. The robot is driven by pneumatic muscle. Simulation on the robot movement is carried out by the simmechanics of matlab. When the joint is driven, the angle、angular velocity and working space of robot are all obtained. Feasibility of the robot design is confirmed by the simulation results.

scholarly journals Interaction in Assistive Robotics: A Radical Constructivist Design Framework

2021 ◽  
Vol 15 ◽  
Author(s):  
Marco C. Bettoni ◽  
Claudio Castellini
Keyword(s):  
User Interface ◽  
Assistive Devices ◽  
Assistive Robotics ◽  
On Demand ◽  
Upper Limb Prostheses ◽  
New Knowledge ◽  
Radical Constructivist ◽  
Device Interaction ◽  
Interaction Strategy ◽  
User Device

Despite decades of research, muscle-based control of assistive devices (myocontrol) is still unreliable; for instance upper-limb prostheses, each year more and more dexterous and human-like, still provide hardly enough functionality to justify their cost and the effort required to use them. In order to try and close this gap, we propose to shift the goal of myocontrol from guessing intended movements to creating new circular reactions in the constructivist sense defined by Piaget. To this aim, the myocontrol system must be able to acquire new knowledge and forget past one, and knowledge acquisition/forgetting must happen on demand, requested either by the user or by the system itself. We propose a unifying framework based upon Radical Constructivism for the design of such a myocontrol system, including its user interface and user-device interaction strategy.

Shoulder-Sidewinder (Shoulder-Side Wearable Industrial Ergonomic Robot): Design and Evaluation of Shoulder Wearable Robot With Mechanisms to Compensate for Joint Misalignment

2021 ◽  
pp. 1-12
Author(s):  
Daegeun Park ◽  
Stefano Toxiri ◽  
Giorgia Chini ◽  
Christian Di Natali ◽  
Darwin G. Caldwell ◽  
...  
Keyword(s):  
Robot Design ◽  
Wearable Robot
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