Mechanical Design and Analysis of the End-Effector Finger Rehabilitation Robot (EFRR) for Stroke Patients

Most existing finger rehabilitation robots are structurally complex and cannot be adapted to multiple work conditions, such as clinical and home. In addition, there is a lack of attention to active adduction/abduction (A/A) movement, which prevents stroke patients from opening the joint in time and affects the rehabilitation process. In this paper, an end-effector finger rehabilitation robot (EFRR) with active A/A motion that can be applied to a variety of applications is proposed. First, the natural movement curve of the finger is analyzed, which is the basis of the mechanism design. Based on the working principle of the cam mechanism, the flexion/extension (F/E) movement module is designed and the details used to ensure the safety and reliability of the device are introduced. Then, a novel A/A movement module is proposed, using the components that can easily individualized design to achieve active A/A motion only by one single motor, which makes up for the shortcomings of the existing devices. As for the control system, a fuzzy proportional-derivative (PD) adaptive impedance control strategy based on the position information is proposed, which can make the device more compliant, avoid secondary injuries caused by excessive muscle tension, and protect the fingers effectively. Finally, some preliminary experiments of the prototype are reported, and the results shows that the EFRR has good performance, which lays the foundation for future work.

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Mechanical design, fabrication, kinematics and dynamics modeling, multiple impedance control of a wrist rehabilitation robot

2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM) ◽

10.1109/icrom.2015.7367799 ◽

2015 ◽

Cited By ~ 2

Author(s):

Mohammad Reza Sajadi ◽

Ali Nasr ◽

S. Ali A. Moosavian ◽

Hassan Zohoor

Keyword(s):

Mechanical Design ◽

Impedance Control ◽

Kinematics And Dynamics ◽

Rehabilitation Robot ◽

Dynamics Modeling

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Design and evaluation of a novel upper limb rehabilitation robot with space training based on an end effector

Mechanical Sciences ◽

10.5194/ms-12-639-2021 ◽

2021 ◽

Vol 12 (1) ◽

pp. 639-648

Author(s):

Qiaoling Meng ◽

Zongqi Jiao ◽

Hongliu Yu ◽

Weisheng Zhang

Keyword(s):

Upper Limb ◽

Degrees Of Freedom ◽

Elbow Flexion ◽

Rehabilitation Robot ◽

End Effector ◽

Upper Limb Rehabilitation ◽

Flexion Extension ◽

Robot Configuration ◽

Limb Rehabilitation ◽

Equivalent Mechanism

Abstract. The target of this paper is to design a lightweight upper limb rehabilitation robot with space training based on end-effector configuration and to evaluate the performance of the proposed mechanism. In order to implement this purpose, an equivalent mechanism to the human being upper limb is proposed before the design. Then, a 4 degrees of freedom (DOF) end-effector-based upper limb rehabilitation robot configuration is designed to help stroke patients perform space rehabilitation training of the shoulder flexion/extension and adduction/abduction and elbow flexion/extension. Thereafter, its kinematical model is established together with the proposed equivalent upper limb mechanism. The Monte Carlo method is employed to establish their workspace. The results show that the overlap of the workspace between the proposed mechanism and the equivalent mechanism is 96.61 %. In addition, this paper also constructs a human–machine closed-chain mechanism to analyze the flexibility of the mechanism. According to the relative manipulability and manipulability ellipsoid, the highly flexible area of the mechanism accounts for 67.6 %, and the mechanism is far away from the singularity on the drinking trajectory. In the end, the single-joint training experiments and a drinking water training trajectory planning experiment are developed and the prototype is manufactured to verify it.

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SISTEM MEKANIK DAN ELEKTRIK PADA PROTOTIPE ROBOT REHABILITASI KAKI

Jurnal Mekanova: Mekanikal, Inovasi dan Teknologi ◽

10.35308/jmkn.v6i1.2212 ◽

2020 ◽

Vol 6 (1) ◽

pp. 31

Author(s):

Novian Fajar Satria ◽

Endah Suryawati Ningrum ◽

Hernandi Firmansyah Putra

Keyword(s):

Power System ◽

Mechanical Design ◽

Lower Leg ◽

The Body ◽

Rehabilitation Robot ◽

Stroke Patients ◽

System Testing ◽

Rehabilitation Process ◽

Keywords Stroke ◽

Leg Movement

Stroke patients need rehabilitation to repair diseased parts of the body. Patients have limitations on therapists who have limitations and intensity to accompany the patient's rehabilitation process. The development of modern robotics technology provides solutions for independent consultations. This research has made a prototype of a rehabilitation robot with a mechanical design based on the foot rehabilitation movement reference as upper leg movement and lower leg movement. The movement is to bend and straighten the knee, and the movement of lifting and lowering the thigh. Mechanical adjustments to the movements applied make the prototype divided into several parts, namely asking the body, approving the legs and packing the actuator. The leg frame on the prototype has two free joints. The power system legs are built to complement the workings of the prototype and support the user's independent movement effort. The results of system testing that have been applied to this prototype are actuators that serve to assist users, provide user movement and provide additional power PWM motor used. Keywords— Stroke Patients, Rehabilitation Robot, Sistem Power Legs.

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Development of a robotic device for post-stroke home tele-rehabilitation

Advances in Mechanical Engineering ◽

10.1177/1687814017752302 ◽

2018 ◽

Vol 10 (1) ◽

pp. 168781401775230 ◽

Cited By ~ 6

Author(s):

Iñaki Díaz ◽

José María Catalan ◽

Francisco Javier Badesa ◽

Xabier Justo ◽

Luis Daniel Lledo ◽

...

Keyword(s):

Mechanical Design ◽

Force Sensor ◽

Adaptive Controller ◽

Three Dimensions ◽

Rehabilitation Robot ◽

Two Dimensional ◽

Robotic Device ◽

End Effector ◽

Design Task ◽

Post Stroke

This work deals with the complex mechanical design task of converting a large pneumatic rehabilitation robot into an electric and compact system for in-home post-stroke therapies without losing performance. It presents the new HomeRehab robot that supports rehabilitation therapies in three dimensions with an adaptive controller that optimizes patient recovery. A preliminary usability test is also conducted to show that its performance resembles that found in RoboTherapist 2D commercial system designed for hospitals. The mechanical design of a novel and smart two-dimensional force sensor at the end-effector is also described.

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A novel End-effector Finger Rehabilitation Robot (EFRR) for stroke patients

Journal of Physics Conference Series ◽

10.1088/1742-6596/1885/5/052039 ◽

2021 ◽

Vol 1885 (5) ◽

pp. 052039

Author(s):

Wang Hongbo ◽

Tian Yu ◽

Niu Baoshan ◽

Du Jiazheng ◽

Tian Junjie

Keyword(s):

Rehabilitation Robot ◽

Stroke Patients ◽

End Effector

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Efficacy of End-Effector Robot-Assisted Gait Training Combined With Robotic Balance Training in Subacute Stroke Patients

Case Medical Research ◽

10.31525/ct1-nct04162197 ◽

2019 ◽

Author(s):

Keyword(s):

Balance Training ◽

Gait Training ◽

Stroke Patients ◽

Robot Assisted ◽

End Effector ◽

Subacute Stroke

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Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.672-674.1770 ◽

2014 ◽

Vol 672-674 ◽

pp. 1770-1773 ◽

Cited By ~ 1

Author(s):

Fu Cheng Cao ◽

Li Min Du

Keyword(s):

Dynamic Response ◽

Sliding Mode Control ◽

Lower Limb ◽

Control Method ◽

Sliding Mode ◽

Impedance Control ◽

Rehabilitation Robot ◽

Active Rehabilitation ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

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An Impedance Control Method of Lower Limb Exoskeleton Rehabilitation Robot Based on Predicted Forward Dynamics

2020 IEEE 19th International Conference on Trust, Security and Privacy in Computing and Communications (TrustCom) ◽

10.1109/trustcom50675.2020.00206 ◽

2020 ◽

Author(s):

Yuefei Wang ◽

Zhen Liu ◽

Liucun Zhu ◽

Xiaoying Li ◽

Huaibin Wang

Keyword(s):

Lower Limb ◽

Control Method ◽

Impedance Control ◽

Rehabilitation Robot ◽

Forward Dynamics ◽

Lower Limb Exoskeleton

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An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control

Journal of Robotics ◽

10.1155/2013/842717 ◽

2013 ◽

Vol 2013 ◽

pp. 1-8 ◽

Cited By ~ 1

Author(s):

Masafumi Hamaguchi ◽

Takao Taniguchi

Keyword(s):

Angular Velocity ◽

Obstacle Avoidance ◽

Impedance Control ◽

Kinematic Redundancy ◽

End Effector ◽

Rate Vector

An obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper. The manipulators are controlled with impedance control to follow user's motions. 7-DOF manipulators are able to avoid obstacles without changing the orbit of the end-effector because they have kinematic redundancy. A joint rate vector is used to change angular velocity of an arbitrary joint with kinematic redundancy. The priority of avoidance is introduced into the proposed method, so that avoidance motions precede follow motions when obstacles are close to the manipulators. The usefulness of the proposed method is demonstrated through obstacle avoidance simulations and experiments.

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