NURSE-2 DoF Device for Arm Motion Guidance: Kinematic, Dynamic, and FEM Analysis

Abstract

Patients with neurological or orthopedic lesions require assistance during therapies with repetitive movements. NURSE (cassiNo-qUeretaro uppeR-limb aSsistive dEvice) is an arm movement aid device for both right- and left-upper limb. The device has a big workspace to conduct physical therapy or training on individuals including kids and elderly individuals, of any age and size. This paper describes the mechanism design of NURSE and presents a numerical procedure for testing the mechanism feasibility that includes a kinematic, dynamic, and FEM (Finite Element Method) analysis. The kinematic demonstrated that a big workspace is available in the device to reproduce therapeutic movements. The dynamic analysis shows that commercial motors for low power consumption can achieve the needed displacement, acceleration, speed, and torque. Finite Element Method showed that the mechanism can afford the upper limb weight with light-bars for a tiny design. This work has led to the construction of a NURSE prototype with a light structure of 2.6 kg fitting into a box of 35 × 45 × 30 cm. The latter facilitates portability as well as rehabilitation at home with a proper follow-up. The prototype presented a repeatability of ±1.3 cm that has been considered satisfactory for a device having components manufactured with 3D rapid prototyping technology.

Robotic devices for paediatric rehabilitation: a review of design features

“…However, most of the devices that had performed clinical trials were end-effector robots designed for adults. This relation could be because the end-effector robot works on the distal part of the limb, guiding the children limb through a movement [ 152 ]. This property is helpful in the case of operability as it does not require adaptation to match the children limb’s size, making it easy to be used by a diverse group of children.…”

An Autotuning Cable-Driven Device for Home Rehabilitation

“…For both EEs' FEM simulation, the average weight of a human arm of 37 N [ 28 ] has been applied to the wrist band. The simulation considers also the contribution of gravity.…”

Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation

“…Additionally, it can reproduce customizable and varied exercises for both the left and right human arm without requiring mechanical reconfigurations. In a previous work, the authors characterized four arm exercises [23] that were later used for a numerical characterization [24,25] and an experimental characterization [26] of Nurse. However, the operation safety of the device had not yet been addressed in [23][24][25][26].…”

“…In a previous work, the authors characterized four arm exercises [23] that were later used for a numerical characterization [24,25] and an experimental characterization [26] of Nurse. However, the operation safety of the device had not yet been addressed in [23][24][25][26].…”

“…In a previous work, the authors characterized four arm exercises [23] that were later used for a numerical characterization [24,25] and an experimental characterization [26] of Nurse. However, the operation safety of the device had not yet been addressed in [23][24][25][26]. Operation safety of the rehabilitation devices should be addressed early in the development process before the device is tested on people [27].…”