scholarly journals SISTEM MEKANIK DAN ELEKTRIK PADA PROTOTIPE ROBOT REHABILITASI KAKI

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.

scholarly journals Adapt

2021 ◽  
Author(s):  
◽  
Ethan Henley
Keyword(s):  
Social Stigma ◽  
Limited Range ◽  
The Body ◽  
Stroke Patients ◽  
Rehabilitation Process ◽  
Parametric System ◽  
Limited Range Of Motion ◽  
Individual Needs ◽  
The Individual ◽  
The Way

<p>This paper presents a system for digitally manufacturing hyper personalised sets of cutlery for stroke patients. Stroke produces a wide variety of physical, cognitive, emotional and social effects that vary widely among individuals and may include weakness or paralysis on one side of the body, contractures and inability to rotate joints. This design addresses the factors including weakened grip strength, contracted wrist and fingers, limited range of motion in the wrist, hand tremors and lack of control. Becoming independent again is an essential stage for patients and difficulty performing standard eating tasks is a commonly reported effect after stroke, which is challenging physically and emotionally. There are existing ergonomic eating aids on the market, but none that offer personalisation for the widely different physiological effects of stroke, or that effectively integrate a sense of progression and achievement, which is the key to keeping patients motivated and confident throughout the rehabilitation process. This study investigates the way design can help reduce product related and social stigma for upper limb stroke rehabilitation patients in the use of cutlery. This research explores the way that a parametric system can be implemented to aid clinicians in identifying the individual needs of patients against a list of criteria. This design study has developed a set of cutlery that assists patients, making them feel confident and comfortable using cutlery in situations outside of their homes, as well as assisting as a therapy device. This research presents a parametric system that allows for controlling the variables relative to the design criteria based on the patient’s physiological abilities. The variables include the ability to change the diameter and size of the handle, the curve of the utensil in the (x,y) plane, the angle of the handle in the (x,z) plane and the depth of the finger groove which accommodates the index finger. The paper presents the main findings from how participants experienced stigma, clinicians feedback on the appropriateness of the cutlery designs, and how personalisation contributes to motivation within therapy.  These main findings conclude that cutlery designed for stroke patients needs to be personalised, as each patient has very individual needs according to their very individual impairments. Current cutlery does not address them all and even less address them through personalisation. The specific variables in the system need to be controlled and restricted to ensure that all 40,000 of the possible outcomes are effective.</p>

scholarly journals Robotic Glove for Rehabilitation Purpose: Review

2020 ◽  
Vol sceeer (3d) ◽  
pp. 86-92
Author(s):  
Yahya Ahmed ◽  
Auns Al-Neami ◽  
Saleem Lateef
Keyword(s):  
Biomedical Engineering ◽  
Interactive Video ◽  
Mechanical Design ◽  
Stroke Patients ◽  
Rehabilitation Process ◽  
Soft Actuator ◽  
The Third ◽  
Rehabilitation Robots ◽  
Different Types ◽  
Linear Actuators

Rehabilitation robots have become one of the main technical instruments that Treat disorder patients in the biomedical engineering field. The robotic glove for the rehabilitation is basically made of specialized materials which can be designed to help the post-stroke patients. In this paper, a review of the different types of robotic glove for Rehabilitation have been discussed and summarized. This study reviews a different mechanical system of robotic gloves in previous years. The selected studies have been classified into four types according to the Mechanical Design: The first type is a tendon-driven robotic glove. The second type of robotic glove works with a soft actuator as a pneumatic which is operated by air pressure that passes through a plastic pipe, pressure valves, and air compressor. The third type is the exoskeleton robotic gloves this type consists of a wearable mechanical design that can used a finger-based sensor to measure grip strength or is used in interactive video applications. And the fourth type is the robotic glove with a liner actuator this type consists of a tape placed on the fingers and connected to linear actuators to open and close the fingers during the rehabilitation process.

scholarly journals Adapt

2021 ◽  
Author(s):  
◽  
Ethan Henley
Keyword(s):  
Social Stigma ◽  
Limited Range ◽  
The Body ◽  
Stroke Patients ◽  
Rehabilitation Process ◽  
Parametric System ◽  
Limited Range Of Motion ◽  
Individual Needs ◽  
The Individual ◽  
The Way

<p>This paper presents a system for digitally manufacturing hyper personalised sets of cutlery for stroke patients. Stroke produces a wide variety of physical, cognitive, emotional and social effects that vary widely among individuals and may include weakness or paralysis on one side of the body, contractures and inability to rotate joints. This design addresses the factors including weakened grip strength, contracted wrist and fingers, limited range of motion in the wrist, hand tremors and lack of control. Becoming independent again is an essential stage for patients and difficulty performing standard eating tasks is a commonly reported effect after stroke, which is challenging physically and emotionally. There are existing ergonomic eating aids on the market, but none that offer personalisation for the widely different physiological effects of stroke, or that effectively integrate a sense of progression and achievement, which is the key to keeping patients motivated and confident throughout the rehabilitation process. This study investigates the way design can help reduce product related and social stigma for upper limb stroke rehabilitation patients in the use of cutlery. This research explores the way that a parametric system can be implemented to aid clinicians in identifying the individual needs of patients against a list of criteria. This design study has developed a set of cutlery that assists patients, making them feel confident and comfortable using cutlery in situations outside of their homes, as well as assisting as a therapy device. This research presents a parametric system that allows for controlling the variables relative to the design criteria based on the patient’s physiological abilities. The variables include the ability to change the diameter and size of the handle, the curve of the utensil in the (x,y) plane, the angle of the handle in the (x,z) plane and the depth of the finger groove which accommodates the index finger. The paper presents the main findings from how participants experienced stigma, clinicians feedback on the appropriateness of the cutlery designs, and how personalisation contributes to motivation within therapy.  These main findings conclude that cutlery designed for stroke patients needs to be personalised, as each patient has very individual needs according to their very individual impairments. Current cutlery does not address them all and even less address them through personalisation. The specific variables in the system need to be controlled and restricted to ensure that all 40,000 of the possible outcomes are effective.</p>

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

Machines ◽  
2021 ◽  
Vol 9 (6) ◽  
pp. 110
Author(s):  
Yu Tian ◽  
Hongbo Wang ◽  
Baoshan Niu ◽  
Yongshun Zhang ◽  
Jiazheng Du ◽  
...  
Keyword(s):  
Mechanical Design ◽  
Impedance Control ◽  
Muscle Tension ◽  
Work Conditions ◽  
Rehabilitation Robot ◽  
Stroke Patients ◽  
Position Information ◽  
End Effector ◽  
Cam Mechanism ◽  
Flexion Extension

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.

Kinematic Analysis of Olympic Hurdle Performance: Women's 100 Meters

1985 ◽  
Vol 1 (2) ◽  
pp. 163-173 ◽  
Author(s):  
Ralph Mann ◽  
John Herman
Keyword(s):  
Elite Athlete ◽  
Olympic Games ◽  
Lower Leg ◽  
The Body ◽  
Performance Variables ◽  
Body Velocity ◽  
The Difference ◽  
Foot Position ◽  
Support Time ◽  
Leg Position

Selected kinematic variables in the performance of the Gold and Silver medalists and the eighth-place finisher in the women's 100-meter hurdles final at the 1984 Summer Olympic Games were investigated. Cinematographic records were obtained for all track hurdling events at the Games, with the 100-meter hurdle performers singled out for initial analysis. In this race, sagittal view filming records (100 fps) were collected at the 9th hurdle of the performance. Computer generated analysis variables included both direct performance variables (body velocity, support time, etc.) and body kinematics (upper leg position, lower leg velocity, etc.) that have previously been utilized in the analysis of elite athlete hurdlers. The difference in place finish was related to the performance variables body horizontal velocity (direct), vertical velocity (indirect), and support time (indirect). The critical body kinematics variables related to success included upper and lower leg velocity during support into and off the hurdle (direct), relative horizontal foot position (to the body) at touchdown into and off the hurdle (indirect), and relative horizontal foot velocity (to the body) at touchdown into the hurdle.

CONTROL OF FOREARM MODULE IN UPPER-LIMB REHABILITATION ROBOT FOR REDUCTION AND BIOMECHANICAL ASSESSMENT OF PRONATOR HYPERTONIA OF STROKE PATIENTS

2016 ◽  
Vol 16 (02) ◽  
pp. 1650008 ◽  
Author(s):  
PIN-CHENG KUNG ◽  
CHOU-CHING K. LIN ◽  
SHU-MIN CHEN ◽  
MING-SHAUNG JU
Keyword(s):  
Upper Limb ◽  
Position Control ◽  
Biomechanical Properties ◽  
Torque Control ◽  
Rehabilitation Robot ◽  
Stroke Patients ◽  
Upper Limb Rehabilitation ◽  
Biomechanical Assessment ◽  
Custom Made ◽  
Limb Rehabilitation

Spastic hypertonia causes loss of range of motion (ROM) and contractures in patients with post-stroke hemiparesis. The pronation/supination of the forearm is an essential functional movement in daily activities. We developed a special module for a shoulder-elbow rehabilitation robot for the reduction and biomechanical assessment of pronator/supinator hypertonia of the forearm. The module consisted of a rotational drum driven by an AC servo motor and equipped with an encoder and a custom-made torque sensor. By properly switching the control algorithm between position control and torque control, a hybrid controller able to mimic a therapist’s manual stretching movements was designed. Nine stroke patients were recruited to validate the functions of the module. The results showed that the affected forearms had significant increases in the ROM after five cycles of stretching. Both the passive ROM and the average stiffness were highly correlated to the spasticity of the forearm flexor muscles as measured using the Modified Ashworth Scale (MAS). With the custom-made module and controller, this upper-limb rehabilitation robot may be able to aid physical therapists to reduce hypertonia and quantify biomechanical properties of the muscles for forearm rotation in stroke patients.

Design and operation of a tripod walking robot via dynamics simulation

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 733-743 ◽  
Author(s):  
Conghui Liang ◽  
Hao Gu ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Three Dimensional ◽  
The Body ◽  
Dynamics Simulation ◽  
Walking Ability ◽  
Walking Robot ◽  
Three Dimensional Model ◽  
Software Environment ◽  
Leg Mechanisms

SUMMARYA mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

Abstract WP282: Protecting Stroke Patients from Aspiration and Mortality through a Bedside Aspiration Screen

Stroke ◽  
2013 ◽  
Vol 44 (suppl_1) ◽  
Author(s):  
Edith Matesic
Keyword(s):  
Organizational Learning ◽  
Aspiration Pneumonia ◽  
The Body ◽  
Kappa Statistics ◽  
Evidence Based ◽  
Stroke Patients ◽  
Rater Reliability ◽  
Stroke Treatment ◽  
Risk Of Death ◽  
The Impact

Background: Stroke patients initially experience dysphagia approximately 42-76% of the time, putting them at high risk for developing aspiration pneumonia and increasing the risk of death threefold in the first 30 days following onset of the condition. Interventions to identify risk for aspiration pneumonia are key to reducing mortality in hospitalized patients. However, no generally recognized bedside aspiration screen exists, and few have been rigorously tested. The Edith-Huhn-Matesic Bedside Aspiration Screen (EHMBAS) TM was developed as an evidence-based RN bedside aspiration screening protocol. Purpose: This study analyzed the sensitivity and inter-rater reliability of EHMBAS TM , assessed the efficacy of training methods, evaluated patient feedback, and looked at the impact of organizational learning. Methods: RNs were trained to apply the EHMBAS TM . An evaluation study assessed the sensitivity, specificity and predictability of the screen to detect aspiration in the stroke population study group. Cohen’s Kappa statistics was applied to test inter-rater reliability. Pre- and post-implementation Likert surveys examined patient and staff satisfaction on the education plan and screening process, respectively. Lastly, an analysis of organizational learning examined whether changes enhanced adherence to screening requirements. Results: Results showed that the EHMBAS TM demonstrated strong validity (94% sensitivity) and high inter-rater reliability (Kappa = .92, p<.001). Pre- and post- staff training survey results demonstrated a significant positive change in knowledge gained, feelings of preparedness, and satisfaction with teaching methods. Further, 92.3% of patients surveyed had positive screening experiences. The hospital received Silver recognition from The American Heart Association for following stroke treatment guidelines 85% of the time for at least 12 months, demonstrating the positive impact of the protocol on organizational change. Conclusions: This study contributes to the body of work aimed at establishing a reliable evidence-based, bedside aspiration screen. Patient safety is enhanced, because screen results help determine when patients can safely receive medication and nutrition by mouth.

LOWER LIMB REHABILITATION ROBOT FOR GAIT TRAINING

2014 ◽  
Vol 14 (06) ◽  
pp. 1440004 ◽  
Author(s):  
SHUAI GUO ◽  
JIANCHENG JI ◽  
GUANGWEI MA ◽  
TAO SONG ◽  
JING WANG
Keyword(s):  
Lower Limb ◽  
Degrees Of Freedom ◽  
Balance Training ◽  
Gait Training ◽  
Rehabilitation Robot ◽  
Stroke Patients ◽  
Motion Characteristics ◽  
Set Up ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

After analyzing the rehabilitation needs of stroke patients and the previous studies on lower limb rehabilitation robot, our lower limb rehabilitation robot is designed for stroke patients' gait and balance training. The robot consists of the mobile chassis, the support column and the pelvis mechanism and it is described in detail. As the pelvis mechanism allows most of the patient's motion degrees of freedom (DOFs), the kinematics model of the mechanism is set up, and kinematics simulation is carried out to study the motion characteristics of the mechanism. After analyzing the calculation and simulation results, the pelvis mechanism is proven to measure up to the movement needs of the paralytic's waist and pelvis in walking rehabilitation process.

scholarly journals Ultrasound assessment of muscle mass in the diagnosis of sarcopenia in cardiovascular patients

2021 ◽  
Vol 20 (3) ◽  
pp. 2699
Author(s):  
A. S. Erokhina ◽  
E. D. Golovanova ◽  
M. A. Miloserdov
Keyword(s):  
Body Mass Index ◽  
Muscle Mass ◽  
Body Mass ◽  
Lower Leg ◽  
The Body ◽  
Russian Society ◽  
Speed Test ◽  
European Working ◽  
Class 1 ◽  
Artery Disease

Aim. To study the advantages of ultrasound versus anthropometric assessment of muscle mass for early diagnosis of sarcopenia in patients >45 years of age.Material and methods. The study included 79 patients aged 4589 years with coronary artery disease (CAD), hypertension, type 2 diabetes, heart failure, class 1-3 obesity. Diagnosis of hypertension was carried out according to the European (2018) and Russian (2019) guidelines; CAD — according to Russian Society of Cardiology (2020) guidelines. Sarcopenia was diagnosed according to 2010 European Working Group on Sarcopenia in Older People (EWGSOP) criteria and 2018 EWGSOP2 guidelines. Muscle mass (MM) was determined by two methods: 1 — by measuring the rectus abdominis muscle (RAM) thickness using the ultrasound; 2 — by measuring the arm and lower leg circumference. Muscle strength was determined by wrist dynamometer. Muscle function was assessed using the 4-m gait speed test.Results. The study showed that in patients aged >45 years admitted to the emergency cardiology department, the body mass index exceeded 25 kg/m2 in 88,6% of cases. The incidence of sarcopenia of varying severity was 55,7% (n=44). The differences in RAM thickness, arm and lower leg circumference between the groups of patients with/without sarcopenia were significant (p<0,001), but were less than the threshold only for RAM thickness. RAM thickness levels progressively decreased with increasing severity of sarcopenia and significantly differed at all stages compared to patients without sarcopenia (p<0,001), regardless of body mass index. A decrease in lower leg circumference below the threshold values determining a MM decrease was observed only in severe sarcopenia, and arm circumference — in both men and women only in severe sarcopenia. There were no significant differences for arm and lower leg circumference depending on sarcopenia stages in overweight and obese patients.Conclusion. MM assessment by measuring RAM thickness with ultrasound in comparison with the anthropometric method makes it possible to diagnose sarcopenia in patients >45 years of age with cardiovascular diseases and obesity at earlier stages and to promptly recommend preventive measures.

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