Kinematic and Dynamic Modeling of a Multifunctional Rehabilitation Robot UHP

Mancisidor, Aitziber; Cabanes, Itziar; Bengoa, Pablo; Jung, Je Hyung

doi:10.1007/978-3-319-59972-4_9

Cited by 4 publications

(3 citation statements)

References 16 publications

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“…In the cases that the proposed structure is not working with value near of load cell mass, the force errors are less than 10%. From the literature, the errors forces found are similar to other prototypes rehabilitation devices [43][44][45][46][47] with errors less than 10% when using PID/trajectory control or impedance control. To compare, the commercial version of InMotion Arm Robot has a force resolution of 0.05 N [48] and a cost of more than USD 100,000 [49].…”

Section: Conclusion and Discussionsupporting

confidence: 74%

Cable-driven lower limb rehabilitation robot

Barbosa

Carvalho

Gonçalves

2018

J Braz. Soc. Mech. Sci. Eng.

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This paper describes a low-cost cable-driven manipulator robot for lower limb rehabilitation, designed for the population with gait impairments, such as those with cerebral palsy or stroke. The robot is composed by a fixed base and a mobile platform (orthoses) that can be connected to one cable, or at most six, and can perform the individual movements of the hip, the knee, and the ankle. It starts with a review of the different mechanical systems developed and applied for lower limb rehabilitation. After, the proposed structure is detailed. Finally, the numerical and experimental tests of the cable-driven parallel structure for lower limb rehabilitation movements are outlined, showing the viability of the proposed structure.

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Section: Conclusion and Discussionsupporting

confidence: 74%

Cable-driven lower limb rehabilitation robot

Barbosa

Carvalho

Gonçalves

2018

J Braz. Soc. Mech. Sci. Eng.

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“…This allows to execute rehabilitation exercises associated with the three movements of the shoulder (rotation, flexion/extension and abduction/adduction) and the movement of flexion/extension of the elbow [ 26 ]. On the other hand, WRIST operating mode allows to perform rehabilitation exercises associated with the rotating movements of the wrist (abduction/adduction and flexion/extension) and the supination/pronation movement of the forearm [ 27 ]. So, all joints of the upper limb can be trained by combining these two operating modes ( Figure 1 ).…”

Section: Uhp Rehabilitation Robotmentioning

confidence: 99%

“…In WRIST operating mode ( Figure 4 ) element

is locked, so its energy is be zero. In addition, element

can only rotate along its axis, so its potential energy will be zero [ 27 ].

…”

Section: Motion and Force Virtual Sensorsmentioning

confidence: 99%

Virtual Sensors for Advanced Controllers in Rehabilitation Robotics

Mancisidor

Cabanes

Portillo

et al. 2018

Sensors

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In order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP) rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error). Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.

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