Development of a Reconfigurable Wrist Rehabilitation Device with an Adaptive Forearm Holder

Dong, Xu; Zhang, Mingming; Ya, Sun; Zhang, Xu; Xu, Han; Li, Yibin; Li, Xiaolong; Xie, Shane

doi:10.1109/aim.2018.8452363

Cited by 9 publications

(5 citation statements)

References 32 publications

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“…Therefore, SAM can move forth and back freely along the radial direction with the location variation of wrist axis when doing the passive exercises. Detail description for the mechanical design can be found in the previous work [15].…”

Section: Instrumentationmentioning

confidence: 99%

Robot-assisted assessment of the effects of self-aligning mechanism on the wrist passive range of motion

Dong

Zhang

et al. 2022

J. Phys.: Conf. Ser.

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Axis alignment between human and robot has been a research hotspot in wearable rehabilitation robots and has a significant effects on full natural ranges of motion (ROM) during robot-assisted training exercises. Self-alignment mechanism (SAM) has been extensively applied on the rehabilitation robots to adaptively compensate the axis misalignment between human anatomic and robot mechanical joints. However, the effects of the SAM on the wrist ROM have not been definitely assessed. In this study, we implemented a SAM on a wrist rehabilitation device (WReD II), and the SAM was specially designed to be locked or unlocked to achieve self-alignment function or not according to demands. To assess the effects of SAM on the wrist passive ROM of extension/flexion (E/F), passive training experiments involving 8 healthy participants were conducted by locking or unlocking the SAM respectively. Surface Electromyography (sEMG) was applied to monitor muscle activity during experiments. During the experiments, the wrist passive ROM were measured by applying the robot-assisted assessment technique. Preliminary results show that the means of the passive ROM have a maximum increase of 19.78° in the case with SAM unlocked when compared to the case with SAM locked. Statistical results indicated high test-retest reliability of the passive ROM measurements with intraclass correlation coefficient ICC (2,1) more than 0.82, and standard error of measurement (SEM) less than 3.2°. These findings suggest that the implement of SAM on the rehabilitation robots has great potentials due to its feasibility and reliability to obtain larger natural passive ROM.

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Section: Instrumentationmentioning

confidence: 99%

Robot-assisted assessment of the effects of self-aligning mechanism on the wrist passive range of motion

Dong

Zhang

et al. 2022

J. Phys.: Conf. Ser.

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“…We conducted this study based on a redesigned and improved version of wrist rehabilitation device (WReD II) described in [15]. In previous work, mechanical and functional validation of the WReD series has been performed in healthy subjects [16,17]. Considering the axis misalignment between the wirst joint and the WReD II joint, the device was optimized by adding a compact and lightweight self-aligning mechanism (SAM) with one passive degree of freedom (DOF).…”

Section: Instrumentationmentioning

confidence: 99%

Effects of adding self-aligning mechanism to the wrist rehabilitation device on the active range of motion

Dong

Wei-dong²,

Zhang³

et al. 2022

Second International Conference on Cloud Computing and Mechatronic Engineering (I3CME 2022)

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The inevitable axis misalignment between human wrist joint and the rehabilitation robot joint may bring undesired reaction force, which may block the acquire of wrist natural range of motion (ROM). To compensate axis misalignment, the introduction of self-alignment mechanism (SAM) to robots is one of the extensively applied method. However, this method may have effects on the biomechanical properties of wrist joint, and the definite effects of SAM on the wrist ROM have been rarely investigated up to date. The assessment of wrist active ROM can provide insight into improvements and effective monitoring during a rehabilitation program. To verify the effects of SAM on the wrist active ROM of flexion/extension, experiments involving 8 healthy subjects were conducted in the cases of SAM locked and SAM unlocked respectively, thus active ROM measured by robot-assisted assessment method. Results show that the mean values of the active ROM has a maximum increase of 21.64º with SAM unlocked compared to that with SAM locked. Test-retest reliability of the proposed assessment method was also analyzed with intraclass correlation coefficient more than 0.79, and standard error of measurement less than 4.17º . These suggest that the application of SAM on the WReD II was feasible and reliable to help acquire larger wrist active ROM.

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“…The scope of this paper is about a combined wrist and finger rehabilitation robot with the capability to exercise each phalanx individually, with a maximum of multi DOFs combined in one device at an affordable price-point. Despite all systems from Table 1 have their benefits, nearest to the scope of this paper is [16], [12], and [19] from different points of view. [16] shows a reconfigurable system but it was not for fingers.…”

Section: Introductionmentioning

confidence: 99%

“…Despite all systems from Table 1 have their benefits, nearest to the scope of this paper is [16], [12], and [19] from different points of view. [16] shows a reconfigurable system but it was not for fingers. [12] is for the rehabilitation of wrist and fingers and it differs from our system because it was not for each finger individually.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Sliding Mode Controller Design for a New Hand Rehabilitation Robot

Abbasimoshaei

Mohammadimoghaddam

Kern

2020

Haptics: Science, Technology, Applications

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Hand rehabilitation is one of the most important rehabilitation procedures. Due to the repetitive nature of rehabilitation training, a full robotic system could help the physiotherapists to gain time for creating new training schemes for a larger number of patients. Such a system can be based on live or recorded data and consists of the operatordevice, patient-device, and control mechanism. This paper focuses on the design of the patient-device and its control-system in a decoupled training scenario. It presents a robot for hand rehabilitation training fingers and wrist independently based on only two actuators. These two actuators are configurable to allow consecutive training on the wrist and all joints of the fingers. To overcome uncertainties and disturbances, a sliding mode controller has been designed and an adaptive fuzzy sliding mode controller is used to reduce the chattering effects and compensate the varying forces of the patients. The experimental results show an approximate 80% improvement in tracking the desired trajectory by the adaptation.

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Development of a Reconfigurable Wrist Rehabilitation Device with an Adaptive Forearm Holder

Abstract: This is a repository copy of Development of a reconfigurable wrist rehabilitation device with an adaptive forearm holder.

Cited by 9 publications

References 32 publications

Robot-assisted assessment of the effects of self-aligning mechanism on the wrist passive range of motion

Robot-assisted assessment of the effects of self-aligning mechanism on the wrist passive range of motion

Effects of adding self-aligning mechanism to the wrist rehabilitation device on the active range of motion

Adaptive Fuzzy Sliding Mode Controller Design for a New Hand Rehabilitation Robot

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