A kinematic and workspace analysis of a parallel rehabilitation device for head-neck injured patients

Abstract

Current treatment for patients suffering from cervical spine injuries is by static braces which causes discomfort and immobilization of the neck. This paper presents a novel comfortable wearable therapy device for treating patients suffering with head/neck posture problems using parallel mechanism concept. To achieve this, a conceptual design of a threedegrees-of-freedom Revolute-Prismatic-Spherical configuration parallel manipulator with 3 extensible links is proposed. However, precision and workspace are the general considerations for designing a parallel manipulator. In this research, workspace and position analysis is carried out for the device. By applying geometrical method and vector-loop approach, the inverse kinematics equations are derived. The parallel manipulator is modeled using SOLIDWORKS and simulated using MATLAB. From the simulation results, stroke length of the actuators, angular tilt and position of the moving platform is obtained. To validate the simulation results a preliminary prototype is built and tests were carried. The obtained results found to be satisfying the cause of the research. Furthermore, the device needs to automated and safely operated under the therapist supervision.

Implementation and Evaluation of a Dynamic Neck Brace Rehabilitation Device Prototype

“…The right/left lateral bending movement ranged from −6.97 ± 0.01° to 7.02 ± 0.01° with accuracies of 99.89% and 99.48%, which limits lateral bending motion to 17% of normal (−42° to 41°) [ 47 ]. Compared to Lingampally's study which had maximum angular tilt between −15° to 15° [ 46 ], as the design used in his study had maximum extension of the links ranging from 120 mm to 160 mm, our study used links ranging from 53 mm to 73 mm. Moreover, the fixed base and top platform radius were 320 mm and 250 mm, respectively, in his study, but our study used equal fixed and movable platforms with radius 95 mm.…”

“…One of them, which was dynamic, was used as a measuring tool for human head movement [ 44 ]; then, it was developed as an assistive device for dropped head syndrome (DHS) [ 45 ]. Another one was developed as a special wearable therapy device for assisting patients who were suffering from the head/neck posture problems [ 46 ]. A preliminary design for a dynamic neck brace was recently developed.…”

A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

“…Utilizing parallel robots in rehabilitation enables specialists to help patients regain strength and mobility in affected joints more rapidly and efficiently than traditional therapeutic methods. The scope of these technologies includes rehabilitation devices for patients with head and neck injuries [1][2][3][4]; pediatric rehabilitation devices for the arm [5]; wearable rehabilitation devices for the arm [6]; exoskeletons for the arms of patients with stroke and spinal cord injuries [7]; and devices specifically designed for wrist [8][9][10], ankle [11][12][13][14][15][16], and foot rehabilitation [17].…”

A wearable system to assist impaired-neck patients: Design and evaluation

“…23 Another proposed solution was a three-degrees-of-freedom Revolute-Prismatic-Spherical configuration parallel manipulator. 24,25 However, this design rigidly enclosed the neck and supported the head at the level of the chin, which made conversation and breathing challenging for the patient. A cable-driven robotic brace capable of providing three degrees of freedom in human head movements was also introduced.…”