Design and fabrication of a robot for neurorehabilitation; Smart RoboWrist

Faghihi, Alirezā; Haghpanah, Seyyed Arash; Farahmand, Farzam; Jafari, Mojtaba

doi:10.1109/kbei.2015.7436086

Cited by 8 publications

(6 citation statements)

References 12 publications

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“…Although the radius of the BP can affect the size and stability of the robot, here we set the radius of the BP as 0.22 m for the analysis. Moreover, the initial distance between the BP and MP is set as 0.25 m, which corresponds to the average length of the human forearm between the elbow and wrist joint [19]. The results of the parasitic motion analysis are shown in Figure 6.…”

Section: Kineto-static Analysis Of the Candidate Designmentioning

confidence: 99%

Kineto-Static Analysis and Design Optimization of a 3-DOF Wrist Rehabilitation Parallel Robot with Consideration of the Effect of the Human Limb

2021

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When designing rehabilitation robots, there remains the challenge of ensuring the comfort and safety of users, especially for wearable rehabilitation robots that interact with human limbs. In this paper, we present a kineto-static analysis of the 3-RPS parallel wrist rehabilitation robot, taking into account the soft characteristics of the human limb and its kinematic mobility. First, the human upper-limb model was made to estimate the interaction force and moment through inverse kinematic analysis. Second, a static analysis was conducted to obtain the force and moment acting on the human limb, which is directly related to the user’s comfort and safety. Then, the design parameters of the 3-RPS robot were obtained by generic optimization through kineto-static analysis. Finally, the influence of the parasitic motion of the 3-RPS robot and the initial offset between the wrist center and the robot moving platform were discussed. Through the analysis results, we provide effective solutions to ensure the safety and comfort of the user.

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Section: Kineto-static Analysis Of the Candidate Designmentioning

confidence: 99%

Kineto-Static Analysis and Design Optimization of a 3-DOF Wrist Rehabilitation Parallel Robot with Consideration of the Effect of the Human Limb

2021

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“…This wrist device can be operated stand-alone or mounted at the tip of the MIT-MANUS. Faghihi et al [19] constructed a three DOFs wrist robot by using a similar structure as the work by Krebs et al [18]. They only introduced the design and fabrication of the wrist robot without the introduction of a control system.…”

Section: Introductionmentioning

confidence: 99%

Interactive Compliance Control of a Wrist Rehabilitation Device (WReD) with Enhanced Training Safety

Dong

Zhang

et al. 2019

Journal of Healthcare Engineering

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Interaction control plays an important role in rehabilitation devices to ensure training safety and efficacy. Compliance adaptation of interaction is vital for enabling robot movements to better suit the patient’s requirements as human joint characteristics vary. This paper proposes an interactive compliance control scheme on a wrist rehabilitation device (WReD) for enhanced training safety and efficacy. This control system consists of a low-level trajectory tracking loop and a high-level admittance loop. Experiments were conducted with zero load and human interaction, respectively. Satisfactory trajectory tracking responses were obtained, with the normalized root mean square deviation (NRMSD) values being 1.08% with zero load and the NRMSD values no greater than 1.4% with real-time disturbance and interaction from human users. Results demonstrate that such an interactive compliance control method can adaptively adjust the range of training motions and encourage active engagement from human users simultaneously. These findings suggest that the proposed control method of the WReD has great potentials for clinical applications due to enhanced training safety and efficacy. Future work will focus on evaluating its efficacy on a large sample of participants.

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“…This idea previously was used in some other works and simpler robots with fewer DOFs were made as rehabilitation robots (Lum et al , 1993; Allington et al , 2011). Faghihi et al (2015) developed a rehabilitation robot with circular links. Li et al (2015) and Wang et al (2015) combined the ulnar-radial training with other body parts exercises.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy sliding mode control of a wearable rehabilitation robot for wrist and finger

Moshaii

Moghaddam

Niestanak

2019

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Purpose The purpose of this paper is to introduce a new design for a finger and wrist rehabilitation robot. Furthermore, a fuzzy sliding mode controller has been designed to control the system. Design/methodology/approach Following an introduction regarding the hand rehabilitation, this paper discusses the conceptual and detailed design of a novel wrist and finger rehabilitation robot. The robot provides the possibility of rehabilitating each phalanx individually which is very important in the finger rehabilitation process. Moreover, due to the model uncertainties, disturbances and chattering in the system, a fuzzy sliding mode controller design method is proposed for the robot. Findings With the novel design for moving the DOFs of the system, the rehabilitation for the wrist and all phalanges of fingers is done with only two actuators which are combined in one device. These features make the system a good choice for home rehabilitation. To control the robot, a fuzzy sliding mode controller has been designed for the system. The fuzzy controller does not affect the coefficient of the sliding mode controller and uses the overall error of the system to make a control signal. Thus, the dependence of the controller to the model decreases and the system is more robust. The stability of the system is proved by the Lyapunov theorem. Originality/value The paper provides a novel design of a hand rehabilitation robot and a controller which is used to compensate the effects of the uncertain parameters and chattering phenomenon.

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Design and fabrication of a robot for neurorehabilitation; Smart RoboWrist

Cited by 8 publications

References 12 publications

Kineto-Static Analysis and Design Optimization of a 3-DOF Wrist Rehabilitation Parallel Robot with Consideration of the Effect of the Human Limb

Kineto-Static Analysis and Design Optimization of a 3-DOF Wrist Rehabilitation Parallel Robot with Consideration of the Effect of the Human Limb

Interactive Compliance Control of a Wrist Rehabilitation Device (WReD) with Enhanced Training Safety

Fuzzy sliding mode control of a wearable rehabilitation robot for wrist and finger

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