A Novel 3-RRR Spherical Parallel Instrument for Daily Living Emulation (SPINDLE) for Functional Rehabilitation of Patients with Stroke

Abstract

Various robotic rehabilitation devices have been developed for acute stroke patients to ease therapist’s efforts and provide high-intensity training, which resulted in improved strength and functional recovery of patients; however, these improvements did not always transfer to the performance of activities of daily living (ADLs). This is because previous robotic training focuses on the proximal joints or training with exoskeleton-type devices, which do not reflect how humans interact with the environment. To improve the training effect of ADLs, a new robotic training paradigm is suggested with a parallel manipulator that mimics rotational ADL tasks. This study presents training of the proximal and distal joints simultaneously while performing manipulation tasks in a device named spherical parallel instrument for daily living emulation (SPINDLE). Six representative ADLs were chosen to show that both proximal and distal joints are trained when performing tasks with SPINDLE, as compared to the natural ADLs. These results show that SPINDLE can train individuals with movements similar to the ADLs while interacting with the manipulator. We envision using this compact tabletop device as a home-training device to increase the performance of ADLs by restoring the impaired motor function of stroke patients, leading to improved quality of life.

Adaptive backstepping controller based on a novel framework for dynamic solution of an ankle rehabilitation spherical parallel robot

“…So far, most studies have focused on the kinematic issues of RSPMs, while quite a few have referred to the dynamic control of these robots. For RSPMs, several studies have been reported on a variety of relevant problems, which include modeling of workspace in joint and Cartesian space [14][15][16][17], inverse and forward kinematic analysis to obtain analytically unique real-time solutions [18][19][20][21][22][23][24][25], design and optimization [26][27][28][29][30][31][32], design and robustness [33], singularity analysis, and derivation of Jacobian matrices [34,35]. However, the constrained kinematic analysis has gone unnoticed in the literature.…”

“…Now, by replacing Eqs. ( 25) and (26) in Eq. ( 32), the closed-form dynamic formulation for the manipulator in the Cartesian space is obtained as follows:…”

Development of a Mechatronic System for the Mirror Therapy

“…Some ankle rehabilitation devices proposed have the 3-RRR [34], 2-RRR/UPRR [35], 2-UPS/RRR [36], 3-RRS [37] geometries and to fit more closely the ankle motion Zhang et al exploited a more complex parallel geometry [38]. There are, also, parallel geometries exploited for upper limb, wrist rehabilitation devices as those proposed in [39,40].…”

Resist-as-Needed ADL Training With SPINDLE for Patients With Tremor

“…As an ADL robotic trainer, we developed a parallel manipulator, SPINDLE (Spherical Parallel INstrument for Daily Living Emulation), shown in Fig. 2, that allows three-dimensional rotations with a wide range of motion [43], [44]. ADL tasks in SPINDLE were designed for the participant to position SPINDLE in a particular end posture to practice both reaching and precision tasks.…”