Design and development of rehabilitation device for hemiparetic patients (original) (raw)
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Applied Mechanics and Materials, 2013
In this paper, the development of rehabilitation device for patients who encounter walking weakness due to post-stroke effect is presented. The kinematic analysis was carried out in the initial stage of development in order to have an efficient mechanism. As guide to design the device, the walking motion of healthy physical subject for speed of 1 km/h was used and subsequently a mechanism was designed to create similar walking motion. The device functions to inculcate the movement of thigh and calf through appropriate rotation of hip and knee. A single actuator of direct current (DC) motor is used to actuate the rotation of 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 proves the combination of DC motor and cam mechanism can actuated the movement of hip and knee joint simultaneously and subsequently reduced the power consumption.
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A Novel Design of a Therapeutic Robot for Hemiplegic Patients
The trend of using therapeutic robots for medical purposes has attracted interest from universities and research centers around the world. One specific area is the rehabilitation of persons with hemiplegia. There are commercial devices called "Continuous Passive Motion (CPM)" used for purposes of hip and knee rehabilitation. However, these machines are limited to hip rehabilitation due to the restricted number of degrees of freedom. In addition, these machines are not designed for hip and do not achieve full range of motion. In this study, a therapeutic robot with 6 degrees of freedom is proposed for the rehabilitation of persons with hemiplegia. The priority is to design a mechatronic system to perform basic movements of the hip: flexion-extension, abduction-adduction and internal and external rotation. The design process is shown including hardware and software requirements. Furthermore, a robust GPI controller to reject external disturbances caused by the patient's leg is proposed. Finally, to verify the mechanical design, motion tests were performed with the virtual prototype. The proposed rehabilitation system is able to perform the basic movements of the hip with a full range of motion.
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The aim of this review is to analyse the different existing technologies for gait rehabilitation, focusing mainly in robotic devices. Those robots help the patient to recover a lost function due to neurological gait disorders, accidents or after injury. Besides, they facilitate the identification of normal and abnormal features by registering muscle activity providing the doctor important data where he can observe the evolution of the patient. Method: A deep literature review was realized using selected keywords considering not only the most common medical and engineering databases, but also other available sources that provide information on commercial and scientific gait rehabilitation devices. The founded literature for this review corresponds to control techniques for gait rehabilitation robots, since the early seventies to the present year. Results: Different control strategies for gait analysis in rehabilitation devices have been developed and implemented such as position control, force and impedance control, haptic simulation, and control of EMG signals. These control techniques are used to analyze the force of the patient during therapy, compensating it with the force generated by the mechanism in the rehabilitation device. It is observed that the largest number of studies reported, focuses on the impedance control technique. Leading to include new control techniques and validate them using the necessary protocols with ill patients, obtaining reliable results that allows a progressive and active rehabilitation. Conclusions: With this exhaustive review, we can conclude that the degree of complexity of the rehabilitation device influences in short and long-term therapeutic results since the movements become more controlled. However, there is still a lot of work in the sense of motion control in order to perform trajectories that are more alike the natural movements of humans. There are many control techniques in other areas, which seek to improve the performance of the process. These techniques may possibly be applicable in gait rehabilitation devices, obtaining controllers that are more efficient and that adapts to different people and the necessities that entail every disease. ä IMPLICATIONS FOR REHABILITATION Rehabilitation helps people to improve the activities of their daily life, allowing them to observe their progress in the functional abilities as the months pass by with intensive and repetitive therapies. There is a mobility issue when the patient needs to move to the hospital or to the laboratory, which is not always feasible. For overcoming it, patients use the equipment at home to perform their daily therapy. However, they need the sufficient knowledge about its operation, also about the therapeutic movements, the therapy duration and the movement speed. Besides, is necessary to place the equipment in a proper and lively environment that helps to forget or reduce pain while the patient moves his joints progressively. The purpose of robotic rehabilitation devices is to generate repetitive and progressive movements, according to the motor disability. There are training trajectories to follow, which motivate patients to generate active movements. The benefits of robotic rehabilitation depend on the ability of each patient to adapt to the speed and load variations generated by the device, improving and reinforcing motor functions in therapy, especially in patients with advanced disabilities in early rehabilitation. Multi-joint rehabilitation devices are more effective than single-joint rehabilitation devices because they involve a higher number of muscles in the therapy. The greater the number of degrees of freedom (DoF) of the device, it cushions its effect in the patient because the inertia is reduced and higher torques are generated. The assistive technological devices allows to explore different rehabilitation techniques that motivate the patient in therapy, increasing appropriately the energy and pressure in the blood which is reflected in gradually recovering his ability to walk.
Design and Analysis of a New Robotic Mechanism for Lower Limbs Rehabilitation
2013 International Conference on Mechatronics, Electronics and Automotive Engineering, 2013
Stroke is the leading cause of disability in the elderly population. Rehabilitation in a general sense aims to return a person to their activities of daily living. Therapeutic exercises are important for the maintenance of joints. When a joint is immobilized for long periods of time is likely to suffer severe damage. In this paper, a new robotic mechanism that allows circular movements to the lower limbs rehabilitation is proposed. The system consists of 5 DoF to perform combined movements to the lower limbs. The kinematics of the leg and the robotic mechanism are shown in detail. The simulations were performed using MATLAB. The leg trajectories are circular in 2D and 3D. In conclusion, this new robotic mechanism performs new circular exercises to the leg, which are difficult to perform manually by the therapist.
A new robotic platform for gait rehabilitation of bedridden stroke patients
2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009, 2009
Robotic aided therapy has been developed in the last decades in order to improve the effects of gait rehabilitation on stroke patients. Although several platforms have nowadays used in clinical practice, contrasting results have been achieved with reduced significant improvements in stroke patients when they experience robotic based therapy. In particular, an improvement of the clinical outcome may be achieved by starting the rehabilitation process almost immediately after the stroke. To address this issue a new robotic system, called "NEUROBike", has been developed. This approach is based on the hypothesis that a better recovery of the neuro-motor control of the leg could result from an early, intensive and task-oriented rehabilitation therapy. Therefore, the leg manipulation during the acute phase, following joint trajectories comparable with the ones obtained during natural walking, could improve the outcome of the rehabilitation. In this regard, desired trajectories of the end-effector of NEUROBike have been estimated in accordance with data collected from young and elderly people when walking on treadmill in a range of speeds from 0.5 to 1.3 m/s. Moreover, tracking performance of a traditional position control algorithm has been investigated. This paper is aimed at showing the first results obtained during the test of the platform. In the next months NEUROBike will be applied for the first clinical pilot studies.
Improvement of rehabilitation possibilities with the MotionMaker TM
The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., 2006
First results with control subjects showed the feasibility of creating movements by such closed-loop controlled FES induced muscle contractions. To make exercising with the MotionMaker™ safe for clinical trials with Spinal Cord Injured (SCI) volunteers, several original safety features have been introduced. The MotionMaker™ is able to identify and manage the occurrence of spasms. Fatigue can also be detected and overfatigue during exercise prevented.
Research and Implementation of Innovated Rehabilitation Robotics Manipulators
2018
"The Stroke has become the top ten leading cause of death. The serious patient will pass away. The light patient of stroke will lose the ability of one-side limb action. It will cause a lot of inconvenience for the caregivers and the family members. At the same time, it will be the burden on society. Based on the above reason, an intelligent wearable rehabilitation robotics is developed in this manuscript. In the golden recovery period, using the mechanical power to help the patient to repeat the flexion and stretching rehabilitation. It can effectively avoid the limb contracture. At the same time, in order to avoid the sports injuries, the EMG (electromyography) is used as feedback signal. It will detect the situation of muscle of the patient. Then, according to the situation, the robotics will automatically tune the travel length of the rehabilitation. Finally, prototype of the rehabilitation robotics will be implemented. The operation of the robotics will be shown in this manuscript. Chin-Wen Chuang | Meng-Hsiu Wu | Kuan-Yu Chen""Research and Implementation of Innovated Rehabilitation Robotics Manipulators"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-1 | Issue-4 , June 2017, URL: http://www.ijtsrd.com/papers/ijtsrd2207.pdf Article URL: http://www.ijtsrd.com/other-scientific-research-area/other/2207/research-and-implementation-of-innovated-rehabilitation-robotics-manipulators/chin-wen-chuang"