A Novel Hybrid Rehabilitation Robot for Upper and Lower Limbs Rehabilitation Training

Khor, Kang Xiang; Rahman, Hamidah Abdul; Fu, Siwen; Sim, L.S.; Yeong, Che Fai; Su, Eileen Lee Ming

doi:10.1016/j.procs.2014.11.065

Cited by 17 publications

(6 citation statements)

References 10 publications

(10 reference statements)

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“… Endpoint 2013 RAE [ 45 ] 0/1 Circular reaching None Hand pos. Endpoint 2014 CR2 [ 46 ] 1/0 Linear reaching DC motor Hand pos. Endpoint 2014 Haptic Theradrive [ 47 ] 1/0 Circular reaching DC motor Hand pos.…”

Section: Resultsmentioning

confidence: 99%

Home-based upper limb stroke rehabilitation mechatronics: challenges and opportunities

et al. 2023

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Interest in home-based stroke rehabilitation mechatronics, which includes both robots and sensor mechanisms, has increased over the past 12 years. The COVID-19 pandemic has exacerbated the existing lack of access to rehabilitation for stroke survivors post-discharge. Home-based stroke rehabilitation devices could improve access to rehabilitation for stroke survivors, but the home environment presents unique challenges compared to clinics. The present study undertakes a scoping review of designs for at-home upper limb stroke rehabilitation mechatronic devices to identify important design principles and areas for improvement. Online databases were used to identify papers published 2010–2021 describing novel rehabilitation device designs, from which 59 publications were selected describing 38 unique designs. The devices were categorized and listed according to their target anatomy, possible therapy tasks, structure, and features. Twenty-two devices targeted proximal (shoulder and elbow) anatomy, 13 targeted distal (wrist and hand) anatomy, and three targeted the whole arm and hand. Devices with a greater number of actuators in the design were more expensive, with a small number of devices using a mix of actuated and unactuated degrees of freedom to target more complex anatomy while reducing the cost. Twenty-six of the device designs did not specify their target users’ function or impairment, nor did they specify a target therapy activity, task, or exercise. Twenty-three of the devices were capable of reaching tasks, 6 of which included grasping capabilities. Compliant structures were the most common approach of including safety features in the design. Only three devices were designed to detect compensation, or undesirable posture, during therapy activities. Six of the 38 device designs mention consulting stakeholders during the design process, only two of which consulted patients specifically. Without stakeholder involvement, these designs risk being disconnected from user needs and rehabilitation best practices. Devices that combine actuated and unactuated degrees of freedom allow a greater variety and complexity of tasks while not significantly increasing their cost. Future home-based upper limb stroke rehabilitation mechatronic designs should provide information on patient posture during task execution, design with specific patient capabilities and needs in mind, and clearly link the features of the design to users’ needs.

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Section: Resultsmentioning

confidence: 99%

Home-based upper limb stroke rehabilitation mechatronics: challenges and opportunities

et al. 2023

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“…Despite many robotic rehabilitation systems that targets different body extremities [19] , [20] , [21] , [22] , [23] exist, their designs are generally complex in structure that lead increase in overall costs as well as control algorithm complexity. Thus various researches aim to decrease overall costs and bulkiness of the proposed systems in order to have an accessible system for the majority [24] , [25] , [26] . Moreover, virtual games are also started to be combined with the robotic rehabilitation treatments to increase patient motivations during performing given therapy tasks [27] , [28] , [29] , [30] , [31] , [32] , [33] .…”

Section: Hardware In Contextmentioning

confidence: 99%

PARS, low-cost portable rehabilitation system for upper arm

Koçak

Gezgin

2022

HardwareX

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“…By comparing the rehabilitation robot before and after training, it was found that the joint angular velocity became larger after robot training, which proved that the rehabilitation robot improved the training effect. Therefore, active rehabilitation training of lower limbs is of great significance to the rehabilitation of patients [23][24][25].…”

Section: Introductionmentioning

confidence: 99%

Research and experiment on active training of lower limb based on five-bar mechanism of man-machine integration system

Sun,

Hu,

Gao

et al. 2024

Robotica

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In view of the fact that the current research on active and passive rehabilitation training of lower limbs is mainly based on the analysis of exoskeleton prototype and the lack of analysis of the actual movement law of limbs, the human-machine coupling dynamic characteristics for active rehabilitation training of lower limbs are studied. In this paper, the forward and inverse kinematics are solved on the basis of innovatively integrating the lower limb and rehabilitation prototype into a human-machine integration system and equivalent to a five-bar mechanism. According to the constraint relationship of hip joint, knee joint and ankle joint, the Lagrange dynamic equation and simulation model of five-bar mechanism under the constraint of human physiological joint motion are constructed, and the simulation problem of closed-loop five-bar mechanism is solved. The joint angle experimental system was built to carry out rehabilitation training experiments to analyze the relationship between lower limb error and height, weight and BMI, and then, a personalized training planning method suitable for people with different lower limb sizes was proposed. The reliability of the method is proved by experiments. Therefore, we can obtain the law of limb movement on the basis of traditional rehabilitation training, appropriately reduce the training speed or reduce the man-machine position distance and reduce the training speed or increase the man-machine distance to reduce the error to obtain the range of motion angle closer to the theory of hip joint and knee joint respectively, so as to achieve better rehabilitation.

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A Novel Hybrid Rehabilitation Robot for Upper and Lower Limbs Rehabilitation Training

Cited by 17 publications

References 10 publications

Home-based upper limb stroke rehabilitation mechatronics: challenges and opportunities

Home-based upper limb stroke rehabilitation mechatronics: challenges and opportunities

PARS, low-cost portable rehabilitation system for upper arm

Research and experiment on active training of lower limb based on five-bar mechanism of man-machine integration system

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