Ankle Rehabilitation of Stroke Survivors Using Kuka LBR Iiwa

Tucan, Paul; Ulinici, Ionut; Pop, Nicoleta; Puskás, Ferenc; Carbone, Giuseppe; Gherman, Bogdan; Luchian, Iosif; Pîslă, Doina

doi:10.1007/978-3-030-58104-6_4

Cited by 7 publications

(3 citation statements)

References 8 publications

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“…We found ankle rehabilitation robots characterized by degrees of freedom and their chains. For example, a serial robot has been used for ankle rehabilitation [63]. A great number of robots use rigid kinematic chains.…”

Section: Related Workmentioning

confidence: 99%

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera

2023

Robotics

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The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. We proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporated a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We also reconfigured the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Furthermore, we computed the workspace to show that the reconfigurable design fits several sizes. The data used are from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators for enhancing human–robot interaction.

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Section: Related Workmentioning

confidence: 99%

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera

2023

Robotics

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“…The intrinsically safe collaborative robots, namely Cobots, applied as rehabilitative mates for post-operative therapies represent an interesting advance from the aforementioned devices that enables more effective approaches. Research activities demonstrate the feasibility of the Cobot mate to recover the mobility of upper and lower limbs [11,24] and available commercial solutions reinforce this achievement, such as the system ROBERT® by Life Science Robotics [20]. A recent survey expresses positive feedback about the adoption of collaborative interaction with robots for assisted training on upper limb function [18].…”

Section: Introductionmentioning

confidence: 99%

A Digital Workflow for the Design and Additive Manufacturing of Multi-thickness Dental Aligners

Aruanno¹,

Barone²,

Bordegoni³

et al. 2022

CADandA

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Nowadays the rehabilitation process involves the patient and the therapist, that must interact to recover the motion of limbs and the strength of related muscles to restore the initial functionalities. The therapy relies on the experience and sensitivity of the therapist that identifies the rehabilitation exercises which are necessary to recover the expected ability. To prevent inappropriate practices an interesting aid may come by mixing collaborative robots, namely Cobots, and additive manufacturing technologies. The proper integration of a Cobot assistant and custom-printed training objects enables a significant improvement in the effectiveness of the therapy action and the related user experience since the programmed trajectories can mimic the movements related to activities of daily living. To this aim, this work describes an integrated approach to support the design of Cobot assisted rehabilitative solutions. The object selected by the patient and therapist, the motion pattern, the clamping area, and loads on the limb represents the design requirements. The motion trajectories defining the specific training tasks are the starting point to the optimal placement within the Cobot workspace. Specifically, manipulability maps can provide an objective evaluation of the locations where the exercises are performed at the best of workspace and configuration of the Cobot. A simple upper limb rehabilitation exercise based on a demonstrative handle has been selected to prove the effectiveness of the proposed approach. The results confirm that the manipulability index can be adopted to drive the preliminary design of the Cobotic solution toward a feasible configuration.

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“…No obstante, uno de los grandes benéficos de la robótica colaborativa ha sido la posibilidad de utilizar los robots fuera de la industria. Hoy en día se pueden encontrar robots colaborativos en el sector sanitario [4], en terapias de rehabilitación [13] o en el ámbito de la enseñanza [10,7].…”

Section: Introductionunclassified

Aplicación de un robot colaborativo de dos brazos para resolver el cubo de Rubik

Fernández¹,

Herrán²,

Mancisidor³

et al. 2021

Xlii Jornadas De Automática : Libro De Actas

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Con objeto de entretener y acercar al usuario al mundo de la robótica, este trabajo presenta una célula robotizada para la resolución de cubos de Rubik. El sistema está formado por el robot colaborativo YuMi de dos brazos y una cámara de visión artificial. Gracias a esta cámara, el sistema es capaz de detectar la posición y la configuración del cubo de Rubik, además de identificar si se trata de un cubo de 2x2 o de 3x3. Una vez detectado el cubo, el robot utiliza los dos brazos para resolver el cubo con el mínimo número de giros y movimientos posibles. Adicionalmente, con el fin de aumentar la comunicación entre el sistema y el usuario, se le ha añadido una pantalla táctil y un módulo de sonido.

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Ankle Rehabilitation of Stroke Survivors Using Kuka LBR Iiwa

Cited by 7 publications

References 8 publications

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

A Digital Workflow for the Design and Additive Manufacturing of Multi-thickness Dental Aligners

Aplicación de un robot colaborativo de dos brazos para resolver el cubo de Rubik

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