Designing Safety-Critical Rehabilitation Robots

Roderick, Stephen; Carignan, Craig R.

doi:10.5772/5154

Cited by 11 publications

(8 citation statements)

References 34 publications

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“…One of the unique aspects of the RRS is that they must enforce the safety of the patient as an object within the workspace, while also being able to treat the patient. This dichotomy creates the need for specific safety strategies that can allow the robot to interact with the patient, while also enforcing all necessary safety precautions [137]. The common hazards in robot-aided treatments include collisions (when a robot link hits the user), pinch injury (when a robot traps a body part), and interior factors (such as sudden spasms or twitches).…”

Section: Safety In Physical Human-robot Interactionmentioning

confidence: 99%

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Robotics in Health Care: Perspectives of Robot-Aided Interventions in Clinical Practice for Rehabilitation of Upper Limbs

et al. 2019

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Robot-aided systems to support the physical rehabilitation of individuals with neurological impairment is one of the fields that has been widely developed in the last few decades. However, the adoption of these systems in clinical practice remains limited. In order to better understanding the causes of this limitation, a systematic review of robot-based systems focused on upper extremity rehabilitation is presented in this paper. A systematic search and review of related articles in the literature were conducted. The chosen works were analyzed according to the type of device, the data analysis capability, the therapy method, the human–robot interaction, the safety strategies, and the focus of treatment. As a conclusion, self-adaptation for personalizing the treatments, safeguarding and enhancing of patient–robot interaction towards training essential factors of movement generation into the same paradigm, or the use of lifelike environments in fully-immersive virtual reality for increasing the assimilation of motor gains could be relevant factors to develop more accepted robot-aided systems in clinical practice.

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Section: Safety In Physical Human-robot Interactionmentioning

confidence: 99%

“…It is relevant to realize that safety is not an absolute concept. A system can only be built to reduce the risk of an accident to an acceptable level [137].…”

Section: Safety In Physical Human-robot Interactionmentioning

confidence: 99%

Robotics in Health Care: Perspectives of Robot-Aided Interventions in Clinical Practice for Rehabilitation of Upper Limbs

et al. 2019

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“…However, there is always the possibility that programming errors could lead to unforeseen robot movements that may cause accidents. 12 …”

Section: Introductionmentioning

confidence: 99%

Novel integrative rehabilitation system for the upper extremity: Design and usability evaluation

Burdea

Kim

Polistico

et al. 2021

Journal of Rehabilitation and Assistive Technologies Engineerin

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Purpose Design and test the usability of a novel virtual rehabilitation system for bimanual training of gravity supported arms, pronation/supination, grasp strengthening, and finger extension. Methods A robotic rehabilitation table, therapeutic game controllers, and adaptive rehabilitation games were developed. The rehabilitation table lifted/lowered and tilted up/down to modulate gravity loading. Arms movement was measured simultaneously, allowing bilateral training. Therapeutic games adapted through a baseline process. Four healthy adults performed four usability evaluation sessions each, and provided feedback using the USE questionnaire and custom questions. Participant’s game play performance was sampled and analyzed, and system modifications made between sessions. Results Participants played four sessions of about 50 minutes each, with training difficulty gradually increasing. Participants averaged a total of 6,300 arm repetitions, 2,200 grasp counts, and 2,100 finger extensions when adding counts for each upper extremity. USE questionnaire data averaged 5.1/7 rating, indicative of usefulness, ease of use, ease of learning, and satisfaction with the system. Subjective feedback on the custom evaluation form was 84% favorable. Conclusions The novel system was well-accepted, induced high repetition counts, and the usability study helped optimize it and achieve satisfaction. Future studies include examining effectiveness of the novel system when training patients acute post-stroke.

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“…Corobots [1] are robotic devices that work in collaboration with human partners, which have already been used in variable environments: exoskeletons as human power amplifiers [2], haptic devices in virtual reality environments [3], rehabilitation [4,5], and so on. Unlike conventional robots which are kept completely separated from humans to ensure safety, corobots are designed to physically interact with humans in a shared workspace.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of a Compliant Link for Inherently Safe Corobots

She

Meng

et al. 2017

Journal of Mechanisms and Robotics

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In this paper, we propose a variable width compliant link that is designed for optimal trade-off of safety and control performance for inherently safe corobots. Intentionally introducing compliance to mechanical design increases safety of corobots. Traditional approaches mostly focus on the joint compliance, while few of them study the link compliance. Here, we propose a novel method to design compliant robotic links with a safety constraint which is quantified by head injury criterion (HIC). The robotic links are modeled as two-dimensional beams with a variable width. Given a safety threshold, i.e., HIC constraint, the width distribution along the link is optimized to give a uniform distribution of HIC, which guarantees inherent safety for human operators. This solution is validated by a human–robot impact simulation program built in matlab. A static model of the variable width link is derived and verified by finite element simulations. Not only stress in the link is reduced, this new design has a better control and dynamic performance quantified by a larger natural frequency and a larger bandwidth compared with designs made of uniform beams and compliant joints (CJs). The proposed variable width link takes full advantage of the link rigidity while keeps inherent safety during a human–robot impact. This paper demonstrates that the compliant link solution could be a promising alternative approach for addressing safety concerns of human–robot interactions.

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Designing Safety-Critical Rehabilitation Robots

Cited by 11 publications

References 34 publications

Robotics in Health Care: Perspectives of Robot-Aided Interventions in Clinical Practice for Rehabilitation of Upper Limbs

Robotics in Health Care: Perspectives of Robot-Aided Interventions in Clinical Practice for Rehabilitation of Upper Limbs

Novel integrative rehabilitation system for the upper extremity: Design and usability evaluation

Design and Modeling of a Compliant Link for Inherently Safe Corobots

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