ARMin - robot for rehabilitation of the upper extremities

Nef, Tobias; Mihelj, Matjaž; Colombo, G.; Riener, Robert

doi:10.1109/robot.2006.1642181

Cited by 149 publications

(93 citation statements)

References 5 publications

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“…In recent years, robotic exoskeletons are being developed specifically for rehabilitation applications, such as the ARMin system. This six-DOF device was designed to enable training for specific activities of daily living (Nef, Mihelj et al 2006). Kousidou et al have incorporated the Salford arm into the Rehab Lab system for virtual rehabilitation of complex three-dimensional trajectories in the workspace (Kousidou, Tsagarakis et al 2006).…”

Section: Force Feedback Exoskeletonsmentioning

confidence: 99%

Robotic Exoskeletons for Upper Extremity Rehabilitation

Gupta¹,

O’Malley²

2007

Rehabilitation Robotics

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Section: Force Feedback Exoskeletonsmentioning

confidence: 99%

Robotic Exoskeletons for Upper Extremity Rehabilitation

Gupta¹,

O’Malley²

2007

Rehabilitation Robotics

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“…La 3 ra versión cuenta con 6 GdL activos, siendo 3 para el hombro. Otro para la flexo-extensión del codo, uno más para la pronosupinación del antebrazo y el último corresponde a la flexo-extensión de la muñeca (Nef et al, 2006, Mihelj et al, 2007y Brokaw et al, 2011.…”

Section: Introductionunclassified

Diseño mecánico de un exoesqueleto para rehabilitación de miembro superior

Lozano¹,

Sosa²,

Ángeles³

et al. 2015

Rev. Colomb. Biotecnol.

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ResumenEl 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. AbstractThe 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 countr...

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“…eating, make up or washing face because they assist only elbow joint. To assist the spatial motion of the patient, various devices which had multi-degree of freedoms were developed (Tsagarakis and Caldwell, 2003, Nef, et al, 2006, Perry, et al, 2007, Kiguchi, 2007, Lucchesi, et al, 2010, Sasaki, et al, 2013. By using these devices, the user can move his/her own arm according to his/her wishes.…”

Section: Introductionmentioning

confidence: 99%

Development of an ADL assistance apparatus for upper limbs and evaluation of muscle and cerebral activity of the user

Tanaka

Saegusa

Iwasaki³

et al. 2014

JAMDSM

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This assistance apparatus for upper limbs was developed for patients who can control their fingers but they cannot lift up their arms themselves, for example myopathy and hemiplegic patients. The purposes of the research in this paper are as follows: 1) to design the simple shaped arm and make the easy control system taking into account the practical use of patients, 2) to confirm the decrease of muscle activity while using the apparatus as an ADL assistance device for myopathy patients, 3) to grasp the tendency of the cerebral activity while using the apparatus as a Neuro-Rehabilitation assistance device for hemiplegic patients. The mechanism of assistance is utilizes the differential gears to lose the weight and volume of the mechanical arm. That enabled us to configure three motors to drive two DOFs (Degrees of freedom) for the shoulder and one DOF for the elbow around the root of the mechanical arm. The arm can lift up to 4 kgf (39.2 N) at the tip of the extended arm, and each maximum angle velocity is 1.57 rad/sec. This arm has two support trays, for wrist and upper arm. Each tray is equipped with a pressure sensor at the contact point to the user's arm, and by using the measured result of these four sensors, the control computer can learn the status of the user's arms. Furthermore, to realize other ADL (activities of daily living) motions (for instance, eating, writing, putting on making up, wiping his/her face, and so on) themselves, we proposed to control the device using the targeted posture map for the mechanical arm. At first, various desired or necessary postures of the assisted arms for the equipped person are determined, and each posture is defined as a control target. Next, each target (which is relatively close) is mutually connected, and the map can be accomplished. However, most of user can use the device without watching the map, because each target in the map is connected with the input signal of the same direction, which the user wants to move his/her hand. To be able to choose the appropriate input for each patient, various input interfaces, for example, joy-stick, push buttons, sensor glove using bending sensors, and so on, are equipped. The muscle activity while using the device was measured, and compared the %MVC data between using the device or not. As a result, the activity decreased up to 60%, and the effectiveness of this device could be confirmed. Finally, to expand the usage of this apparatus to encompass Neuro-Rehabilitation as well, the cerebral activity while using the device for rehabilitation with a near-infrared spectroscopy (NIRS) was measured. Then the data from using the device or not, and input motion from a third person were compared. By using this device, the cerebral activity decreased especially when the target motion was complex. However, when the subject input the motion themselves, the cerebral activity increased more than the data is input by a third person, especially, according to the complexity of the target motion. Therefore, for use in Neuro-Rehabilit...

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ARMin - robot for rehabilitation of the upper extremities

Cited by 149 publications

References 5 publications

Robotic Exoskeletons for Upper Extremity Rehabilitation

Robotic Exoskeletons for Upper Extremity Rehabilitation

Diseño mecánico de un exoesqueleto para rehabilitación de miembro superior

Development of an ADL assistance apparatus for upper limbs and evaluation of muscle and cerebral activity of the user

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