An end-effector based upper-limb rehabilitation robot: Preliminary mechanism design

Ponomarenko, Yekaterina; Aubakir, Bauyrzhan; Hussain, Shahid; Shintemirov, Almas

doi:10.1109/mecatronics.2014.7018564

Cited by 7 publications

(3 citation statements)

References 25 publications

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“…Liu et al [96] developed a two-link end-effector based robotic arm which was tested by using it to perform line and circle tracking tasks for rehabilitation. Ponomarenko et al [106] designed an end-effector based rehabilitation robot that is electromagnetically powered and has five independent degrees of freedom in the shoulder and elbow joints. There are also several other end-effector based upper body rehabilitation robots, such as MIT MANUS which uses motor drive with impedance control, MIME of Stanford University which uses motor drive with an EMG signal control and force control, and others [101].…”

Section: Upper Limb Rehabilitationmentioning

confidence: 99%

A Survey of Robots in Healthcare

et al. 2021

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In recent years, with the current advancements in Robotics and Artificial Intelligence (AI), robots have the potential to support the field of healthcare. Robotic systems are often introduced in the care of the elderly, children, and persons with disabilities, in hospitals, in rehabilitation and walking assistance, and other healthcare situations. In this survey paper, the recent advances in robotic technology applied in the healthcare domain are discussed. The paper provides detailed information about state-of-the-art research in care, hospital, assistive, rehabilitation, and walking assisting robots. The paper also discusses the open challenges healthcare robots face to be integrated into our society.

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Section: Upper Limb Rehabilitationmentioning

confidence: 99%

A Survey of Robots in Healthcare

et al. 2021

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“…This can affect the patient's ability to perform activities of daily living. The most important way to achieve exercise recovery is training and rehabilitation [2]. The human brain is a highly plastic complex' network-It is remarkably resilient to damage and can reorganize itself even after a large disturbance [3].…”

Section: Introductionmentioning

confidence: 99%

An exoskeleton rehabilitation system to train hand function after stroke

Li¹

2023

Second Guangdong-Hong Kong-Macao Greater Bay Area Artificial Intelligence and Big Data Forum (AIBDF 2022)

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Stroke is a leading cause of disability in adults. Notably, about 75% of stroke survivors have upper limb damage, which greatly reduces the quality of life of the patient after recovery. The current routine rehabilitation recommendation is repetitive functional training (exercise-based training) to promote nervous system recovery, and then realize exercise rehabilitation. The cost, efficiency and success rate of traditional treatment methods are unstable due to various factors such as the professional level of therapists, the time required and the workload of therapists. In the case, rehabilitation robot-assisted therapy brings a new direction for the rehabilitation of stroke hemiplegia. In this paper, a new type of hand rehabilitation robot is designed based on the physiological structure of fingers, which is used to assist stroke patients in different stages of finger movement rehabilitation training. It can help the patient to practice grasp adduction and abduction repeatedly, reducing the burden on the patient. Secondly, in this paper, the degrees of freedom and movement of each finger joint are analyzed and calculated. Through modelling and finite element analysis based on Solid works to simulate the stress changes of exoskeleton in different rehabilitation stages, a model suitable for different stages of rehabilitation training is put forward.

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“…Robotic devices can provide limitless repeatability for patients thus decreasing the effort that therapists have to make (Kwakkel et al, 2008;Lum et al, 2002). Additionally, pa-M. E. Kütük et al: Passive wrist and forearm rehabilitation tient performance evaluation can easily be monitored and assessed by the therapists to adjust the rest of the required therapy (Celik et al, 2010;Ponomarenko et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation

2019

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Abstract. This paper presents a new exoskeleton design for wrist and forearm rehabilitation. The contribution of this study is to offer a methodology which shows how to adapt a serial manipulator that reduces the number of actuators used on exoskeleton design for the rehabilitation. The system offered is a combination of end-effector- and exoskeleton-based devices. The passive exoskeleton is attached to the end effector of the manipulator, which provides motion for the purpose of rehabilitation process. The Denso VP 6-Axis Articulated Robot is used to control motion of the exoskeleton during the rehabilitation process. The exoskeleton is designed to be used for both wrist and forearm motions. The desired moving capabilities of the exoskeleton are flexion–extension (FE) and adduction–abduction (AA) motions for the wrist and pronation–supination (PS) motion for the forearm. The anatomical structure of a human limb is taken as a constraint during the design. The joints on the exoskeleton can be locked or unlocked manually in order to restrict or enable the movements. The parts of the exoskeleton include mechanical stoppers to prevent the excessive motion. One passive degree of freedom (DOF) is added in order to prevent misalignment problems between the axes of FE and AA motions. Kinematic feedback of the experiments is performed by using a wireless motion tracker assembled on the exoskeleton. The results proved that motion transmission from robot to exoskeleton is satisfactorily achieved. Instead of different exoskeletons in which each axis is driven and controlled separately, one serial robot with adaptable passive exoskeletons is adequate to facilitate rehabilitation exercises.

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An end-effector based upper-limb rehabilitation robot: Preliminary mechanism design

Cited by 7 publications

References 25 publications

A Survey of Robots in Healthcare

A Survey of Robots in Healthcare

An exoskeleton rehabilitation system to train hand function after stroke

Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation

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