A Novel Design of a Therapeutic Robot for Hemiplegic Patients (original) (raw)
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Control of a hip rehabilitation robot using a virtual prototype
2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), 2013
A hip fracture causes musculoskeletal problems which affect the patient to carry out activities of daily living (ADLs) such as standing and walking. Rehabilitation therapies are procedures to restore the movement of a joint or a muscle due to illness or injury. The goal of rehabilitation therapeutic exercises is to perform specific movements that cause muscle activation to the patient, in order to recover and minimize the damage after a prolonged immobilization. In this paper, a hip rehabilitation robot using a virtual prototype is presented which provides flexion/extension movements with a Generalized Proportional Integral (GPI) controller that performs soft movements. A GPI controller is proposed for the efficient rejection of an unknown perturbation input due the weight of the leg and unexpected reflexes of the muscles during the therapy. Simulation results using a GPI controller in a robust perturbation rejection scheme for a trajectory tracking task are presented. In order to assess the performance and outstanding disturbance rejection capabilities of the proposed robust GPI controller, a comparison with a PD and PID controller is also presented.
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In this thesis, the development of rehabilitation device for patients who encounter walking weakness due to post-stroke effect is presented. . In order to design an efficient new mechanism, studies were carried out regarding kinematic of human walking. In the study, the motion of a healthy physical subject in walking situation of 1 km/h speed is used as guide to design the device. Thereafter, a mechanism was developed to produce similar motion. The device functions to actuate knee and hip rotation. The device is driven by a single actuator to drive both the hip and the knee joints mechanism. The kinematic analysis of constructed device has been performed and the results conformed the functionality of the suggested mechanism. The fabricated prototype shows the combination of DC motor and cam mechanism can actuated the movement of hip and knee joint simultaneously and may significantly reduced the power consumption. The computer based controller has also been developed with simple and...
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The hip vertical movement (HVM) mechatronic system presented in this paper is a worldwide premiere and will be an important aid designed for medical recovery of the patients with neurological affections. The system simulates the patient’s alternate side hip vertical movement during gait. No actual recovery mechatronic systems have the property of moving alternatively the patient’s hips. The vertical movement is transmitted to the patient’s hips with the help of any known body weight support system; therefore HVM system can be easily adapted to the existing recovery systems. Recovery is achieved by the patient’s active or passive motion (walking). The need of the design and execution of this new system follow the conclusions subsequently to an extended state-ofthe-art research in the domain. The hip vertical movement (HVM) mechatronic system is currently proposed to be patented.
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In this paper, the kinematic analysis of constructed assistive robotic leg for rehabilitation of patients who encounter the neurological injury is presented. In order to design an efficient new mechanism, studies were carried out to distinguish the human architecture and dynamics. In the study, the motion of a healthy physical subject in walking situation of 1 km/h speed was recorded. Thereafter, a novel robotic leg mechanism was developed to produce similar motion. The robotic leg is driven by a single actuator to drive both the hip and the knee joints mechanism. In order to verify the robot motion with respect to human motion, kinematic analysis of all robot's joints and links are formulated and are simulated in MATLAB software. The results obtained from the kinematic analysis of the developed assistive robotic system show that its motion conforms to the motion and dynamics of a healthy human.
Lower-Limb Rehabilitation Robot Design
IOP Conference Series: Materials Science and Engineering, 2013
It is a general assumption that robotics will play an important role in therapy activities within rehabilitation treatment. In the last decade, the interest in the field has grown exponentially mainly due to the initial success of the early systems and the growing demand caused by increasing numbers of stroke patients and their associate rehabilitation costs. As a result, robot therapy systems have been developed worldwide for training of both the upper and lower extremities. This paper investigates and proposes a lower-limb rehabilitation robot that is used to help patients with lower-limb paralysis to improve and resume physical functions. The proposed rehabilitation robot features three rotary joints forced by electric motors providing linear motions. The paper covers mechanism design and optimization, kinematics analysis, trajectory planning, wearable sensors, and the control system design. The design and control system demonstrate that the proposed rehabilitation robot is safe and reliable with the effective design and better kinematic performance..
The Middlesex University rehabilitation robot
Journal of Medical Engineering & Technology, 2005
This paper describes the development of an electrically powered wheelchairmounted manipulator for use by severely disabled persons. A detailed review is given explaining the specification. It describes the construction of the device and its' control architecture. The prototype robot used several gesture recognition and other input systems. The system has been tested on disabled and non-disabled users. They observed that it was easy to use but about 50% slower than comparable systems before design modifications were incorporated. The robot has a payload of greater than 1 kg with a maximum reach of 0.7-0.9 m 1 Introduction Rehabilitation Robotics has developed over the past four decades, with many of its original pioneers active in the development of orthotic and prosthetic devices (e.g.
Conceptual Design of a Gait Rehabilitation Robot
Gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. In this paper, a new robotic orthosis is presented for treadmill training. In the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are considered. This robot is composed of a leg exoskeleton for leg control and a segment for pelvis control. In the exoskeleton two degrees of freedom are considered for the hip joint and one for the knee joint. Also two degrees of freedom are considered for the pelvis joints. The inertia of moving components and the required force for the robot motion are measured to evaluate the robot backdrivability and transparency. Further, a walking algorithm is implemented on the robot and is tested on a human subject. Evaluation of the design showed that the robot is suitable for gait rehabilitation exercises.