Continuous Passive Machines (CPM) facilitate patients in eliminating joint stiffness after surgery and lead to a faster and more efficient recovery. However, many previous CPM machined are mechanically complicated, expensive, and lack a user interface. This paper presents a new CPM machine for elbow flexion-extension and forearm pronation-supination. The machine is simple, low-cost, and equipped with Graphical User Interface (GUI). Its mechanism is designed so that it can be used on the left or right arms interchangeably. It is developed using aluminum, perspex, and steel rods. The electrical part of the machine consists of Arduino Uno to drive the motors and a potentiometer to measure the patients’ Range of Motion (ROM). The GUI for setting the exercise parameters and monitoring the patients’ progress has been developed using MATLAB software. The experimental results show that the machine has successfully provided the repetitive desired motions. The machine realizes elbow flexion-extension and forearm pronation-supination movements with 0ᵒ-135ᵒ and 0ᵒ-90ᵒ ranges of motion (ROM), respectively. The machine is also capable of increasing the elbow joint’s ROM by 5ᵒ increments for the therapy. The results show that the machine has the potential to be used in hospitals and rehabilitation centers.
Many people all around the world are suffering from various types of disabilities and need to depend on others to perform activities of daily living. One of the essential daily living activities is eating. The disabled people should be able to eat their food independently at any time and place, without relying on the caregivers. This paper presents the development of a new wearable upper limb motion assist robot for helping the disabled to eat by themselves. The motion assists robot consists of two degrees of freedom (DOF) movement, focusing on the two most crucial upper limb movements in eating activity, which is the elbow flexion/extension and forearm pronation/supination. A light-weight material was used for the fabrication of the wearable motion assist robot, and Arduino was utilized as the microcontroller. The originality of the study was in terms of the design, operational sequence setting, and kinematic analysis of the wearable upper limb motion assist robot that was explicitly focusing on eating activity. The resulted prototype was portable, compact, light in weight, simple and low cost. The experimental results have proven that the proposed wearable upper limb motion assist robot for eating activity was successful in helping the users to perform the main upper extremity motions in eating. The success rate of the proposed system was 80%, and it took 6 seconds for the system to complete one feeding cycle.
This paper presents the design and development of a new low-cost pick and place anthropomorphic robotic arm for the disabled and humanoid applications. Anthropomorphic robotic arms are weapons similar in scale, appearance, and functionality to humans, and functionality. The developed robotic arm was simple, lightweight, and has four degrees of freedom (DOF) at the hand, shoulder, and elbow joints. The measurement of the link was made close to the length of the human arm. The anthropomorphic robotic arm was actuated by four DC servo motors and controlled using an Arduino UNO microcontroller board. The voice recognition unit drove the command input for the targeted object. The forward and inverse kinematics of the proposed new robotic arm has been analysed and used to program the low cost anthropomorphic robotic arm prototype to reach the desired position in the pick and place operation. This paper’s contribution is in developing the low cost, light, and straightforward weight anthropomorphic arm that can be easily attached to other applications such as a wheelchair and the kinematic study of the specific robot. The low-cost robotic arm’s capability has been tested, and the experimental results show that it can perform basic pick place tasks for the disabled and humanoid applications.
It is essential to have an accurate representation of a robotic rehabilitation device in the form of a system model in order to design a robust controller for it. This paper presents mathematical modelling and validation through simulation and experimentation of the 1-DOF Finger Extensor rehabilitation machine. The machine’s design is based on an iris mechanism, built specifically for training open and close movements of the hand. The goal of this research is to provide an accurate model for the Finger Extensor by taking into consideration various factors affecting its dynamics and to present an experimental validation of the devised model. Dynamic system modelling of the machine is performed using Lagrangian formulation and the involved physical parameters are obtained experimentally. To validate the developed model and demonstrate its effectiveness, hardware-in-the-loop experiments are conducted in the Simulink-MATLAB environment. Mean absolute error between the simulated and experimental response is 1.38° and the relative error is 1.13%. The results obtained are found to be within the human motion resolution limits of 5 mm or 5º and exhibit suitability of the model for application in robotic rehabilitation systems. The model accurately replicates the actual behavior of the machine and is suitable for use in controller design. ABSTRAK: Gambaran tepat mengenai model sistem peranti rehabilitasi robotik adalah sangat penting bagi pembangunan sesebuah reka bentuk alat kawalan tahan lasak. Kajian mengenai model matematik dan pengesahan melalui simulasi dan eksperimentasi mesin pemulihan 1-DOF ‘Finger Extensor’. Mesin ini direka bentuk berdasarkan mekanisme iris, dibangunkan khusus bagi melatih gerakan buka dan tutup tangan. Tujuan kajian ini adalah bagi menyediakan model Finger Extensor yang tepat dengan mengambil kira faktor mempengaruhi dinamik dan pengesahan model eksperimen yang dirancang. Model sistem dinamik mesin ini diuji menggunakan formula Lagrangian dan parameter fizikal yang terlibat diperoleh melalui eksperimen. Model ini disahkan dan diuji keberkesanannya menggunakan eksperimen Perkakasan-dalam-gelung melalui MATLAB-Simulink. Purata ralat mutlak antara dapatan simulasi dan respon eksperimen adalah 1.38° dan ralat relatif 1.13%. Dapatan kajian adalah dalam had resolusi gerakan tangan manusia iaitu 5 mm atau 5º dan didapati model ini sesuai bagi aplikasi sistem rehabilitasi robotik. Model ini tepat dalam mereplikasi kelakuan sebenar mesin dan sesuai digunakan bagi reka bentuk kawalan.
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