A mechanism for elbow exoskeleton for customised training

Manna, Soumya K.; Dubey, Venketesh N.

doi:10.1109/icorr.2017.8009476

Cited by 9 publications

(3 citation statements)

References 11 publications

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“…There are 400–800,000 strokes per year in Poland, this being the most common cause of such deficits, for which there are no alternatives except the one proposed here. In addition, a significant group of such patients are elderly people (6–10 million Poles) with similar negative deterioration of upper limb function due to neurodegenerative changes in the aging process [ 1 ]. Three modes of rehabilitation are used at different stages after a stroke: In the acute phase: external force-based control; Middle phase of recovery: supportive force-based rehabilitation; and Last phase: resistance-based rehabilitation [ 2 ].…”

Section: Introductionmentioning

confidence: 99%

Reducing Waste in 3D Printing Using a Neural Network Based on an Own Elbow Exoskeleton

et al. 2021

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Traditional rehabilitation systems are evolving into advanced systems that enhance and improve rehabilitation techniques and physical exercise. The reliable assessment and robotic support of the upper limb joints provided by the presented elbow exoskeleton are important clinical goals in early rehabilitation after stroke and other neurological disorders. This allows for not only the support of activities of daily living, but also prevention of the progression neuromuscular pathology through proactive physiotherapy toward functional recovery. The prices of plastics are rising very quickly, as is their consumption, so it makes sense to optimize three dimensional (3D) printing procedures through, for example, improved artificial intelligence-based (AI-based) design or injection simulation, which reduces the use of filament, saves material, reduces waste, and reduces environmental impact. The time and cost savings will not reduce the high quality of the products and can provide a competitive advantage, especially in the case of thinly designed mass products. AI-based optimization allows for one free print after every 6.67 prints (i.e., from materials that were previously wasted).

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Section: Introductionmentioning

confidence: 99%

Reducing Waste in 3D Printing Using a Neural Network Based on an Own Elbow Exoskeleton

et al. 2021

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“…Studies indicated that long-term intensive training and practice would be beneficial to the rehabilitation process of patients (Bertani et al, 2017). Robot-assisted therapy equipment can provide highintensity, repetitive, interactive treatments for the affected upper limbs and obtain physiological data of patients, which has been increasingly used in rehabilitation training (Manna and Dubey, 2017).…”

Section: Introductionmentioning

confidence: 99%

Design and evaluation of a novel upper limb rehabilitation robot with space training based on an end effector

Meng

Jiao

et al. 2021

Mech. Sci.

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Abstract. The target of this paper is to design a lightweight upper limb rehabilitation robot with space training based on end-effector configuration and to evaluate the performance of the proposed mechanism. In order to implement this purpose, an equivalent mechanism to the human being upper limb is proposed before the design. Then, a 4 degrees of freedom (DOF) end-effector-based upper limb rehabilitation robot configuration is designed to help stroke patients perform space rehabilitation training of the shoulder flexion/extension and adduction/abduction and elbow flexion/extension. Thereafter, its kinematical model is established together with the proposed equivalent upper limb mechanism. The Monte Carlo method is employed to establish their workspace. The results show that the overlap of the workspace between the proposed mechanism and the equivalent mechanism is 96.61 %. In addition, this paper also constructs a human–machine closed-chain mechanism to analyze the flexibility of the mechanism. According to the relative manipulability and manipulability ellipsoid, the highly flexible area of the mechanism accounts for 67.6 %, and the mechanism is far away from the singularity on the drinking trajectory. In the end, the single-joint training experiments and a drinking water training trajectory planning experiment are developed and the prototype is manufactured to verify it.

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“…They employed the spool-spring mechanism to design a hybrid model. Soumya K. Manama et al [14] have designed a wearable robot for rehabilitation therapy. They have proposed the concept of three levels of rehabilitation in a single device and obtained good results by using this type of robot.…”

Section: Introductionmentioning

confidence: 99%

Design and fabrication of a passive upper limb rehabilitation robot with adjustable automatic balance based on variable mass of end-effector

Eslami

Mokhtarian

Pirmoradian

et al. 2020

J Braz. Soc. Mech. Sci. Eng.

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The purpose of this work is to design and fabricate a balanced passive robotic arm with the capability of applying variable mass to the end-effector in order to upper limb rehabilitation. To achieve this purpose, the first step is associated with establishing a robot structural design in the CAD environment. The next step is focused on developing the kinematic model based on the degrees of freedom and joint range of motion of the lower legs. Thereafter, the potential energy functions are determined for the springs and weight of components applied in the mechanism. The genetic algorithm is employed as a proper optimization program to extract the system design parameters, including the spring stiffness coefficients and their placement positions within the system. A prototype is fabricated for a balanced robot, and the end-effector mass variations are utilized to develop an adjustable balance capability. To create balance in the system, several items are designed, consisting of a control panel, two electric motors, and an electronic processor. This situation provides an equivalent force equal to the weight of selected mass from the end-effector to the user's hand. (It is done by a reverse process.) The actual mass required for robot balance is compared to the mass defined in the simulation environment. The evaluation results indicate that it is possible to create an optimized balance by using the simulation outputs.

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A mechanism for elbow exoskeleton for customised training

Cited by 9 publications

References 11 publications

Reducing Waste in 3D Printing Using a Neural Network Based on an Own Elbow Exoskeleton

Reducing Waste in 3D Printing Using a Neural Network Based on an Own Elbow Exoskeleton

Design and evaluation of a novel upper limb rehabilitation robot with space training based on an end effector

Design and fabrication of a passive upper limb rehabilitation robot with adjustable automatic balance based on variable mass of end-effector

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