Assist-as-needed control in a cable-actuated robot for human joints rehabilitation

To support and facilitate the rehabilitation of patients with physical limitations and aid the therapist, several robotic structures are being studied. Among the structures, the cable-driven robots stand out. The cable-driven robots are structures actuated by cables and have the advantages of being flexible and reconfigurable for each patient. The objective of this paper is to develop a theoretical model for knee flexion/extension force and moment using a cable-driven robot. The proposed model is necessary for elaborating a referential to which diagnosis can be made and the improvement of the patient evaluated. The presented theoretical model was validated through experiments with twelve sedentary and healthy volunteers. The first procedure tested ten subjects in three thigh angles for knee flexion motion; the second procedure tested two subjects in flexion and extension for the same thigh angle. The results show the validity of the model for 88.58% of the tests in an ANOVA analysis with a 99% confidence interval. The similarity of data for different gender, ages, and intrinsic factors was noted, implying that the model is representative and independent of the subject’s individuality. Differences between flexion and extension values were observed, which need to be studied in the future.

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“…As Me is unknown, to calculate MjE, the moment balance around the foot-to-leg point contact is performed again, Eq. (10).…”

Section: Biomechanical Modelmentioning

confidence: 99%

“…The use of one cable is enough to perform the individual movements of knee flexion/extension and the weight of the lower limb assists in the flexion/extension movement [9]. A complete description of the mathematical model and validation of the cable-driven robot used in this paper can be found in [7, 9, 10].…”

Section: Design Of the Cable-driven Robotmentioning

confidence: 99%

Comparison of theoretical and experimental models for knee flexion/extension using a cable-driven robot

Gonçalves

Kaufmann

2023

Robotica

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“…This monitoring device sold in the market is knockdown, easily assembled, and connected using a connecting cable. In the application, if much movement on the line can cause the cable connection to become loose [104] and cause errors in the parameter monitoring process. Fishing vessel movement caused by waves and engine activity allows the connection to loosen.…”

Section: Qs3 (The Implementation Of Monitoring Equipment For Propulsion Engines On Fishing Vessels)mentioning

confidence: 99%

Modern Monitoring Instrument to Support Fishing Vessel Operation and Maintenance: A Review

Abrori¹,

Sidhi²,

Prasetyo³

2021

International Journal on Advanced Science, Engineering and Information Technology

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Determining the maintenance strategy for fishing vessels propulsion engines can use engine operational monitoring data. This data is used to prepare the implementation time, spare parts, labor, and costs. Unfortunately, many fishing vessels do not have this data. Currently, electronic devices are available for monitoring machine operations. This device is cheap, easy to use, takes responsibility for various physical quantity parameters, displays it on LCD, stores it digitally, and transmits data wirelessly. This paper aims to review the application of engine operational monitoring tools to apply to fishing vessel propulsion engines. The material used is scientific articles consisting of journals and proceedings indexed by online databases. Several keywords are used to obtain scientific articles that are suitable for the study. The method used is a literature review that is systematically reviewed by applying inclusion and exclusion. The results obtained in this article are the parameters for monitoring propulsion engines, namely temperature, pressure, rotational speed, and hours the engine runs. The monitoring device requires sensors to detect physical parameters, a microcontroller to process data, an LCD to display monitoring results, and memory to store data to obtain this data. The device supports wireless communication via Bluetooth or WiFi radio signal. Fishing vessels are operating in offshore areas that are not covered by internet networks as IoT communication transmissions. Further research on how to transmit operational engine data from offshore to onshore without an internet signal so that data can be accessed using the internet network.

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“…The nature of the tasks to be performed by the proposed device requires a flexible control, as mentioned by Alves et al 42 Strict control of the trajectory could, in certain cases, cause discomfort, pain, or even can hurt a patient. Therefore, an impedance controller, as proposed by Hogan, 43 is adopted to allow a user to deviate from the imposed trajectory obeying a certain dynamic relationship.…”

Section: Proposed Assist-as-needed Controlmentioning

confidence: 99%

A fairly simple mechatronic device for training human wrist motion

Gonçalves

Brito

Moraes

et al. 2020

International Journal of Advanced Robotic Systems

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This article proposes a novel device for wrist motion rehabilitation. The proposed mechatronic architecture is based on a simple user-friendly design, which includes a mobile platform for hand support, which is operated by a single actuator. A dedicated assist-as-needed control is designed to operate the device for the required movements. The proposed control strategy is also integrated into a gaming software for stimulating the exercising by means of various interactions with patients. Experimental tests are carried out with 14 healthy subjects at the Physiotherapy Clinical Hospital of the Federal University of Uberlandia. Also, three patients with stroke have been enrolled in a pilot clinical testing. Each of the patients has been involved in four sessions per month with 15 min of assisted treatment. Results of experimental tests are analyzed in terms of improvements and amplitude gains for the flexion and extension wrist movements. Experimental results are reported as evidence for the feasibility and soundness of the proposed device as a tool to assist professionals in procedures of wrist rehabilitation.

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Assist-as-needed control in a cable-actuated robot for human joints rehabilitation

Cited by 10 publications

References 0 publications

Comparison of theoretical and experimental models for knee flexion/extension using a cable-driven robot

Comparison of theoretical and experimental models for knee flexion/extension using a cable-driven robot

Modern Monitoring Instrument to Support Fishing Vessel Operation and Maintenance: A Review

A fairly simple mechatronic device for training human wrist motion

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