Design of ELISE robot for the paretic upper limb of stroke survivors

Abstract

To characterize the ELISE project, a concept robot applicable in the neuro-rehabilitation of the entire paretic upper limb. The project has been designed and implemented based on comprehensive rehabilitation of the shoulder, forearm and hand. ELISE is a concept robotic system prepared for individualized approach in rehabilitation of stroke patients including diagnostics, passive and/or active exercises and reports. The ELISE system includes dual biofeedback solutions: rehabilitation exercises in virtual reality (VR) and the virtual assistant of therapist. The biomechanical, ergonomics, electrical/electronics, hardware/software aspects of the design are described in detail here. This paper suggests a new approach to rehabilitation robots for the spastic upper limb of stroke survivors. Rehabilitation with ELISE robot was based on movement exercises, which incorporate biofeedback in VR. The patient realizes common tasks from ordinary life. This innovative rehabilitation connects practical/social aspect of rehabilitation with movement exercises. With the aid of these stimulations, the ELISE robot is intended to speed up the process of recovery from damaged neuron connections in brain. Robot was designed for flexible assembly and can be tailored to individual needs and unique expectations of each therapist and patient. This is possible thanks to the modular design of the robot arm and software. The ELISE robot will be sold in different configurations (e.g. without an expander or a set of virtual games or a virtual assistant of therapist).

Device to rehabilitate one’s Physical and Learning Abilities

“…Onto the inner side, between the top and the bottom part and between the left and the right part of each frame six sets of sensors are placed, which detect the interruptions of the IR light beams (on one side there is a transmitter, and on the other is a receiver). The user performs the exercises by inserting his hand in a frame and thus interrupting a IR beam [21].…”

Horizontal Automated Storage and Retrieval System

“…In order to propose a design solution for this type of device, as well as to select appropriate components for the client, it becomes necessary to conduct a detailed analysis of kinematics and dynamics of the manipulator [18].…”

Virtual reality and exercises for paretic upper limb of stroke survivors

“…• For the component of a hand (with wrist joint), it was used the DS-50-63-310016-13 (rated output torque 18 N·m and acceleration/braking torque 36 N·m) [26].…”

“…The ELISE robot includes a TG Drives digital servo controller with specialized software (TG motion) [26]. Moreover a specialized software application for the control of this multi-module rehabilitation system was created.…”