Kinematical Analysis and Simulation of Upper Limb Rehabilitation Robot

To assist stroke patients with rehabilitation training, an upper limb rehabilitation robot with an exoskeleton structure and three degrees of freedom (DOF) was developed in this paper. Under the guidance of the theory of rehabilitation medicine, the mechanical design of the robot was completed. Then, the kinematics equations were established by means of homogeneous transformation, including the forward kinematics and the inverse kinematics. The kinematical analysis was carried out and the algebraic solution of inverse kinematics was derived, which provided a theoretical basis for realizing the intelligent control. To validate the performance, the kinematical simulation was conducted, and the simulation results showed that the design of the exoskeleton robot was feasible.

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Diseño mecánico de un exoesqueleto para rehabilitación de miembro superior

Revista Colombiana de Biotecnología ◽

10.15446/rev.colomb.biote.v17n1.44188 ◽

2015 ◽

Vol 17 (1) ◽

pp. 79-90 ◽

Cited By ~ 2

Author(s):

Juan Francisco Ayala Lozano ◽

Guillermo Urriolagoitia Sosa ◽

Beatriz Romero Ángeles ◽

Christopher René Torres San-Miguel ◽

Luis Antonio Aguilar-Pérez ◽

...

Keyword(s):

Upper Limb ◽

Degrees Of Freedom ◽

Mechanical Design ◽

Low Cost ◽

Structure Design ◽

Upper Limb Rehabilitation ◽

Palabras Clave ◽

Mexican Patient ◽

Almost All ◽

Limb Rehabilitation

Título en ingles: Mechanical design of an exoskeleton for upper limb rehabilitationTítulo corto: Diseño mecánico de un exoesqueletoResumen: El ritmo de vida actual, tanto sociocultural como tecnológico, ha desembocado en un aumento de enfermedades y padecimientos que afectan las capacidades físico-motrices de los individuos. Esto ha originado el desarrollo de prototipos para auxiliar al paciente a recuperar la movilidad y la fortaleza de las extremidades superiores afectadas. El presente trabajo aborda el diseño de una estructura mecánica de un exoesqueleto con 4 grados de libertad para miembro superior. La cual tiene como principales atributos la capacidad de ajustarse a la antropometría del paciente mexicano (longitud del brazo, extensión del antebrazo, condiciones geométricas de la espalda y altura del paciente). Se aplicó el método BLITZ QFD para obtener el diseño conceptual óptimo y establecer adecuadamente las condiciones de carga de servicio. Por lo que, se definieron 5 casos de estudio cuasi-estáticos e implantaron condiciones para rehabilitación de los pacientes. Asimismo, mediante el Método de Elemento Finito (MEF) se analizaron los esfuerzos y deformaciones a los que la estructura está sometida durante la aplicación de los agentes externos de servicio. Los resultados presentados en éste trabajo exhiben una nueva propuesta para la rehabilitación de pacientes con problemas de movilidad en miembro superior. Donde el equipo propuesto permite la rehabilitación del miembro superior apoyado en 4 grados de libertad (tres grados de libertad en el hombro y uno en el codo), el cual es adecuado para realizar terapias activas y pasivas. Asimismo, es un dispositivo que está al alcance de un mayor porcentaje de la población por su bajo costo y fácil desarrollo en la fabricación.Palabras clave: MEF, Blitz QFD, exoesqueletos, diseño mecánico.Abstract: The pace of modern life, both socio-cultural and technologically, has led to an increase of diseases and conditions that affect the physical-motor capabilities of persons. This increase has originated the development of prototypes to help patients to regain mobility and strength of the affected upper limb. This work, deals with the mechanical structure design of an exoskeleton with 4 degrees freedom for upper limb. Which has the capacity to adjust to the Mexican patient anthropometry (arm length, forearm extension, geometry conditions of the back and the patient’s height) BLITZ QFD method was applied to establish the conceptual design and loading service conditions on the structure. So, 5 quasi-static cases of study were defined and conditions for patient rehabilitation were subjected. Also by applying the finite element method the structure was analyzed due to service loading. The results presented in this work, show a new method for patient rehabilitation with mobility deficiencies in the upper limb. The proposed new design allows the rehabilitation of the upper limb under 4 degrees of freedom (tree degrees of freedom at shoulder and one at the elbow), which is perfect to perform active and passive therapy. Additionally, it is an equipment of low cost, which can be affordable to almost all the country population.Key words: FEM, Blitz QFD, exoskeletons, mechanical design.Recibido: agosto 20 de 2014 Aprobado: marzo 26 de 2015

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Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training

Journal of Healthcare Engineering ◽

10.1155/2017/4931217 ◽

2017 ◽

Vol 2017 ◽

pp. 1-11 ◽

Cited By ~ 3

Author(s):

Yali Liu ◽

Chong Li ◽

Linhong Ji ◽

Sheng Bi ◽

Xuemin Zhang ◽

...

Keyword(s):

Upper Limb ◽

Functional Ability ◽

Degrees Of Freedom ◽

Muscle Activation ◽

Movement Pattern ◽

Interaction Force ◽

Rehabilitation Robot ◽

End Effector ◽

Upper Limb Rehabilitation ◽

Limb Rehabilitation

Numerous robots have been widely used to deliver rehabilitative training for hemiplegic patients to improve their functional ability. Because of the complexity and diversity of upper limb motion, customization of training patterns is one key factor during upper limb rehabilitation training. Most of the current rehabilitation robots cannot intelligently provide adaptive training parameters, and they have not been widely used in clinical rehabilitation. This article proposes a new end-effector upper limb rehabilitation robot, which is a two-link robotic arm with two active degrees of freedom. This work investigated the kinematics and dynamics of the robot system, the control system, and the realization of different rehabilitation therapies. We also explored the influence of constraint in rehabilitation therapies on interaction force and muscle activation. The deviation of the trajectory of the end effector and the required trajectory was less than 1 mm during the tasks, which demonstrated the movement accuracy of the robot. Besides, results also demonstrated the constraint exerted by the robot provided benefits for hemiplegic patients by changing muscle activation in the way similar to the movement pattern of the healthy subjects, which indicated that the robot can improve the patient’s functional ability by training the normal movement pattern.

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Mechanical design and Optimization on a Home-based Upper Limb Rehabilitation Robot

10.1109/iciea51954.2021.9516098 ◽

2021 ◽

Author(s):

Lutong Li ◽

Sarah Tyson ◽

Nick Preston ◽

Andrew Weightman

Keyword(s):

Upper Limb ◽

Mechanical Design ◽

Rehabilitation Robot ◽

Upper Limb Rehabilitation ◽

Design And Optimization ◽

Home Based ◽

Limb Rehabilitation

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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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The Study on Motor-Function Evaluation of Upper-Limb Rehabilitation Robot Based on AHP

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.121-126.2382 ◽

2011 ◽

Vol 121-126 ◽

pp. 2382-2386

Author(s):

Xing Li ◽

Jian Hui Wang ◽

Yan Zheng ◽

Shu Sheng Gu

Keyword(s):

Motor Function ◽

Upper Limb ◽

Evaluation Method ◽

Evaluation Model ◽

Rehabilitation Medicine ◽

Function Evaluation ◽

Rehabilitation Robot ◽

Upper Limb Rehabilitation ◽

Organic Combination ◽

Limb Rehabilitation

To solve the problem of real-time, quantification monitor on the restoration of motor function in hemiplegia after stroke, this paper proposed motor-function evaluation content for 5-DOF upper-limb rehabilitation robot based on traditional motor-function evaluation method, and then it constituted judgment matrix and calculated weights by Analytical Hierarchy Process, finally, established a synthetical evaluation model of motor function for upper-limb rehabilitation robot. This paper is the organic combination of operational research, rehabilitation medicine and robotics. Compare with traditional motor-function evaluation method, the new evaluation method is so simply and flexible that it greatly increases the reliability, validity and feasibility of evaluation, which has changed traditional evaluation methods into mathematical process. It is the new orientation in motor-function evaluation.

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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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