[Abstract] Modelling, design, and construction of a wrist rehabilitation exoskeleton – Full Text PDF

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This work presents the modelling, design, construction, and control of a wrist joint flexion/extension and abduction/adduction rehabilitation exoskeleton. The dynamic models of the wrist movements are obtained using Euler-Lagrange formulation and are built in Simulink of MATLAB in conjunction with a PID closed-loop control representing the human natural neuromusculoskeletal control. Simulations are carried out to estimate the joint torque required to produce the functional wrist movements in an average Colombian adult. The exoskeleton is designed in SolidWorks CAD software, built through 3D printing in polylactic acid (PLA), powered by two on-board servomotors, and controlled by an Arduino UNO board that establishes communication with an Android mobile app developed in MIT App Inventor for entering the rehabilitation therapy parameters. The result of this work is a lightweight exoskeleton with a total mass of 0.64 [kg] including servomotors, microcontroller, and batteries, with the ability to be used in telerehabilitation practices, guaranteeing angular displacement tracking errors under 10%. Index Terms-Arduino, control, Euler-Lagrange, MIT App Inventor, model, radiocarpal joint, rehabilitation robotics, Simulink, wearable robotics.

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[ARTICLE] A New Design Scheme for Intelligent Upper Limb Rehabilitation Training Robot – Full Text PDF

Abstract: In view of the urgent need for intelligent rehabilitation equipment for some disabled people, an intelligent, upper limb rehabilitation training robot is designed by applying the theories of artificial intelligence, information, control, human-machine engineering, and more. A new robot structure is proposed that combines the use of a flexible rope with an exoskeleton. By introducing environmentally intelligent ergonomics, combined with virtual reality, multi-channel information fusion interaction technology and big-data analysis, a collaborative, efficient, and intelligent remote rehabilitation system based on a human’s natural response and other related big-data information is constructed. For the multi-degree of the freedom robot system, optimal adaptive robust control design is introduced based on Udwdia-Kalaba theory and fuzzy set theory. The new equipment will help doctors and medical institutions to optimize both rehabilitation programs and their management, so that patients are more comfortable, safer, and more active in their rehabilitation training in order to obtain better rehabilitation results.

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[Abstract] Preliminary study on the design and control of a pneumatically-actuated hand rehabilitation device

Abstract:

In recent years, the robotic devices have been used in hand rehabilitation training practice. The majority of existing robotic devices for rehabilitation belong to the rigid exoskeleton. However, rigid exoskeletons may have some limitations such as heavy weight, un-safety and inconvenience. This paper presents a device designed to help post-stroke patients to stretch their spastic hands. This hand rehabilitation device actuator is fabricated by soft material, powered with fluid pressure, and embedded in one glove surface. The distinguished features of this device are: safety, low cost, light weight, convenience and pneumatic actuation. In clinical practice, rehabilitation therapists should help the post-stroke patients to stretch fingers to a desired joint position. Therefore, the control objective of the proposed hand rehabilitation device is to drive the patient’s finger bending angle to a predesigned position. To this end, curvature sensors embedded in the glove are used to measure the finger’s bending angle. A commercial data glove is used to collect the actual finger’s bending angle for calibrating the curvature sensors based on a three-layer back-propagation (BP) neural network. Then the error between the designed joint position and the actual joint position can be calculated. An error proportional control strategy is adopted for the positioning control objective (the controller’s input is the pump speed). Finally, experiments are conducted to validate the effectiveness of control method and the capacity of the proposed hand rehabilitation device.

Published in: Automation (YAC), 2017 32nd Youth Academic Annual Conference of Chinese Association of

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Source: Preliminary study on the design and control of a pneumatically-actuated hand rehabilitation device – IEEE Xplore Document