A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

Abarca, Victoria E.; Elias, Dante A.

doi:10.3390/robotics12050131

Cited by 6 publications

(4 citation statements)

References 116 publications

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“…However, dynamic interactions with highly variable and poorly characterized objects (i.e., patients with neurological impairments) do not destabilize the impedance controller. This is essential for safe operation in a clinical setting [22].…”

Section: Wrist Robot Device Control Systemmentioning

confidence: 99%

“…It should be noted that the review articles found in the literature do not have the wrist as their main focus, covering other joints of the upper and lower limbs [3,4,[19][20][21][22] or are not up-to-date [1]. The review articles [1,3,4,[19][20][21][22] also do not clearly present how to conduct the mathematical modeling of the new device based on the characteristics of the human wrist as detailed in this paper.…”

Section: Introductionmentioning

confidence: 96%

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A Review of Wrist Rehabilitation Robots and Highlights Needed for New Devices

Garcia,

Gonçalves,

Carbone

2024

Machines

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Various conditions, including traffic accidents, sports injuries, and neurological disorders, can impair human wrist movements, underscoring the importance of effective rehabilitation methods. Robotic devices play a crucial role in this regard, particularly in wrist rehabilitation, given the complexity of the human wrist joint, which encompasses three degrees of freedom: flexion/extension, pronation/supination, and radial/ulnar deviation. This paper provides a comprehensive review of wrist rehabilitation devices, employing a methodological approach based on primary articles sourced from PubMed, ScienceDirect, Scopus, and IEEE, using the keywords “wrist rehabilitation robot” from 2007 onwards. The findings highlight a diverse array of wrist rehabilitation devices, systematically organized in a tabular format for enhanced comprehension. Serving as a valuable resource for researchers, this paper enables comparative analyses of robotic wrist rehabilitation devices across various attributes, offering insights into future advancements. Particularly noteworthy is the integration of serious games with simplified wrist rehabilitation devices, signaling a promising avenue for enhancing rehabilitation outcomes. These insights lay the groundwork for the development of new robotic wrist rehabilitation devices or to make improvements to existing prototypes incorporating a forward-looking approach to improve rehabilitation outcomes.

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Section: Wrist Robot Device Control Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 96%

A Review of Wrist Rehabilitation Robots and Highlights Needed for New Devices

Garcia,

Gonçalves,

Carbone

2024

Machines

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“…Then, in 2023, Abraca et al [5] presented a systematic review on parallel robots used in the fields of assistive technologies, humanoids, and rehabilitation robots. Robots for rehabilitation are applied to help people who have been injured or ill to regain their strength, functionality, and motor skills.…”

Section: Related Workmentioning

confidence: 99%

“…The medical field has greatly benefited from the use of parallel robots, which have found use in humanoids, assistance, and rehabilitation. Future prospects show that parallel robots may become a market mainstay due to ongoing technical advancements and cooperation between the scientific community, business, and healthcare experts [5].…”

Section: Introductionmentioning

confidence: 99%

A 3UPS/S Spherical Parallel Manipulator Designed for Robot-Assisted Hand Rehabilitation after Stroke

Valayil,

Tanev

2024

Applied Sciences

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Hand dysfunction is a common symptom in stroke patients. This paper presents a robotic device which assists the rehabilitation process in order to reduce the need of physical therapy, i.e., a 3UPS/S parallel robotic device is employed for repetitive robot-assisted rehabilitation. Euler angle representation was used to solve the robot’s inverse kinematics. The robot’s joint space and rotational workspace were determined for two scenarios. In the first scenario, the workspace was obtained considering the actuator’s stroke limitations, while in the second scenario, the workspace was determined by adding a second condition, i.e., the range of motion of the spherical joints. Singularity analysis was performed using the geometric algebra approach. The robot was manufactured using additive manufacturing technology. The solution of the inverse kinematic problem was employed to control the robot. The robot can perform a full range of motion during wrist ulnar deviation and radial deviation motions, with the exception of limited wrist flexion and extension motions. The robot has singular configurations within its workspace. Although the spherical joints have roles in reducing the workspace, the primary causes are actuator selection, radii of the base and moving platforms, and the length of the central leg. These factors can be considered to improve the workspace. Singularity can be avoided by carefully selecting the rotation of the moving platform about the Z-axis and avoiding same leg lengths.

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