Dynamic Characterization and Interaction Control of the CBM-Motus Robot for Upper-Limb Rehabilitation

Zollo, Loredana; Salerno, Antonino; Vespignani, Massimo; Accoto, Dino; Passalacqua, Massimiliano; Guglielmelli, Eugenio

doi:10.5772/56928

Cited by 7 publications

(7 citation statements)

References 49 publications

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“…Robotic technology can be used to supplement, augment and improve human performance during the execution of tasks [1][2][3][4]. In particular, a robotic device can cooperate with humans [5] during the repetitive execution of targeting and/or reaching tasks, which require one to smoothly move a tool inside a working area and to keep it in an arbitrary, stable position with high accuracy.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

Beretta

Momi

Baena

et al. 2015

International Journal of Advanced Robotic Systems

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Cooperatively controlled robotic assistants can be used in surgery for the repetitive execution of targeting/ reaching tasks, which require smooth motions and accurate placement of a tool inside a working area. A variable damping controller, based on a priori knowledge of the location of the surgical site, is proposed to enhance the physical human-robot interaction experience. The performance of this and of typical constant damping controllers is comparatively assessed using a redundant light-weight robot. Results show that it combines the positive features of both null (acceleration capabilities > 0.8m/s 2 ) and optimal (mean pointing error < 1.5mm) constant damping controllers, coupled with smooth and intuitive convergence to the target (direction changes reduced by 30%), which ensures that assisted tool trajectories feel natural to the user. An application scenario is proposed for brain cortex stimulation procedures, where the surgeon's intentions of motion are explicitly defined intra-operatively through an imageguided navigational system.

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Section: Introductionmentioning

confidence: 99%

Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

Beretta

Momi

Baena

et al. 2015

International Journal of Advanced Robotic Systems

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“…34 It has a Cartesian kinematic structure consisting of two modules connected by a double prismatic joint each corresponding to an actuated axis (i.e. x and y axes).…”

Section: The Cbm-motusmentioning

confidence: 99%

“…34 However, y represents the stabilizing action that makes the robot behave as a generalized mechanical impedance regulated by mass matrix M d , stiffness matrix K P and damping matrix K D .…”

Section: The Cbm-motusmentioning

confidence: 99%

“…The CBM-Motus is a planar end-effector machine for upper limb rehabilitation (Figure 7) conceived to address the following main requirements: low and isotropic inertia, simplicity in the mechanical structure, lightness and compactness in order to enable portability and low cost to favour home usage. 34 It has a Cartesian kinematic structure consisting of two modules connected by a double prismatic joint each corresponding to an actuated axis (i.e. x and y axes).…”

Section: The Cbm-motusmentioning

confidence: 99%

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A modular telerehabilitation architecture for upper limb robotic therapy

Simonetti

Zollo

Vollero

et al. 2017

Advances in Mechanical Engineering

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Several factors may prevent post-stroke subjects from participating in rehabilitation protocols, for example, geographical location of rehabilitation centres, socioeconomic status, economic burden and lack of logistics surrounding transportation. Early supported discharge from hospitals with continued rehabilitation at home represents a well-defined regimen of post-stroke treatment. Information-based technologies coupled with robotics have promoted the development of new technologies for telerehabilitation. In this article, the design and development of a modular architecture for delivering upper limb robotic telerehabilitation with the CBM-Motus, a planar unilateral robotic machine that allows performing state-of-the-art rehabilitation tasks, have been presented. The proposed architecture allows a therapist to set a therapy session on his or her side and send it to the patient's side with a standardized communication protocol; the user interacts with the robot that provides an adaptive assistance during the rehabilitation tasks. Patient's performance is evaluated by means of performance indicators, which are also used to update robot behaviour during assistance. The implementation of the architecture is described and a set of validation tests on seven healthy subjects are presented. Results show the reliability of the novel architecture and the capability to be easily tailored to the user's needs with the chosen robotic device.

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“…They have good mechanical properties (low friction and inertia values) and, in general, a high cost. Class II devices 33 have a simpler mechanical structure, with less efficient values of their mechanical parameters, but with a much lower cost. In this case, the control strategy used is an essential element for the proper performance of the device.…”

Section: Introductionmentioning

confidence: 99%

E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disability

Fraile

Pérez-Turiel

Baeyens

et al. 2016

Advances in Mechanical Engineering

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The use of robotic platforms for neuro-rehabilitation may boost the neural plasticity process and improve motor recovery in patients with upper limb mobility impairment as a consequence of an acquired brain injury. A robotic platform for this aim must provide ergonomic and friendly design, human safety, intensive task-oriented therapy, and assistive forces. Its implementation is a complex process that involves new developments in the mechanical, electronics, and control fields. This article presents the end-effector rehabilitation robot, a 2-degree-of-freedom planar robotic platform for upper limb rehabilitation in patients with neuromotor disability after a stroke. We describe the ergonomic mechanical design, the system control architecture, and the rehabilitation therapies that can be performed. The impedance-based haptic controller implemented in end-effector rehabilitation robot uses the information provided by a JR3 force sensor to achieve an efficient and friendly patient-robot interaction. Two task-oriented therapy modes have been implemented based on the ''assist as needed'' paradigm. As a result, the amount of support provided by the robot adapts to the patient's requirements, maintaining the therapy as intensive as possible without compromising the patient's health and safety and promoting engagement.

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Dynamic Characterization and Interaction Control of the CBM-Motus Robot for Upper-Limb Rehabilitation

Cited by 7 publications

References 49 publications

Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

A modular telerehabilitation architecture for upper limb robotic therapy

E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disability

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