Analysis of Dynamic Behavior of ParReEx Robot Used in Upper Limb Rehabilitation

Tarniţă, Daniela; Geonea, Ionuț; Pîslă, Doina; Carbone, Giuseppe; Gherman, Bogdan; Tohănean, Nicoleta; Tucan, Paul; Abrudan, Cristian

doi:10.3390/app12157907

Cited by 5 publications

(3 citation statements)

References 50 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Before starting the pilot study and the recruitment of the patients, the entire robotic system was the subject of an extended critical analysis regarding the mechanical structure of the robot, the control system, and the user interface. The aspects regarding the optimizations of the mechanical structure were previously presented [ 21 , 22 , 23 ]. The control system was optimized for communication protocols and torque monitoring features [ 19 ].…”

Section: Methodsmentioning

confidence: 99%

The Efficacity of the NeuroAssist Robotic System for Motor Rehabilitation of the Upper Limb—Promising Results from a Pilot Study

Tohănean

Tucan

Vanta

et al. 2023

JCM

Self Cite

View full text Add to dashboard Cite

The research aimed to evaluate the efficacy of the NeuroAssist, a parallel robotic system comprised of three robotic modules equipped with human–robot interaction capabilities, an internal sensor system for torque monitoring, and an external sensor system for real-time patient monitoring for the motor rehabilitation of the shoulder, elbow, and wrist. The study enrolled 10 consecutive patients with right upper limb paresis caused by stroke, traumatic spinal cord disease, or multiple sclerosis admitted to the Neurology I Department of Cluj-Napoca Emergency County Hospital. The patients were evaluated clinically and electrophysiologically before (T1) and after the intervention (T2). The intervention consisted of five consecutive daily sessions of 30–45 minutes each of 30 passive repetitive movements performed with the robot. There were significant differences (Wilcoxon signed-rank test) between baseline and end-point clinical parameters, specifically for the Barthel Index (53.00 ± 37.72 vs. 60.50 ± 36.39, p = 0.016) and Activities of Daily Living Index (4.70 ± 3.43 vs. 5.50 ± 3.80, p = 0.038). The goniometric parameters improved: shoulder flexion (70.00 ± 56.61 vs. 80.00 ± 63.59, p = 0.026); wrist flexion/extension (34.00 ± 28.75 vs. 42.50 ± 33.7, p = 0.042)/(30.00 ± 22.97 vs. 41.00 ± 30.62, p = 0.042); ulnar deviation (23.50 ± 19.44 vs. 33.50 ± 24.15, p = 0.027); and radial deviation (17.50 ± 18.14 vs. 27.00 ± 24.85, p = 0.027). There was a difference in muscle activation of the extensor digitorum communis muscle (1.00 ± 0.94 vs. 1.40 ± 1.17, p = 0.046). The optimized and dependable NeuroAssist Robotic System improved shoulder and wrist range of motion and functional scores, regardless of the cause of the motor deficit. However, further investigations are necessary to establish its definite role in motor recovery.

show abstract

Section: Methodsmentioning

confidence: 99%

The Efficacity of the NeuroAssist Robotic System for Motor Rehabilitation of the Upper Limb—Promising Results from a Pilot Study

Tohănean

Tucan

Vanta

et al. 2023

JCM

Self Cite

View full text Add to dashboard Cite

show abstract

“…Nowadays, robots are omnipresent in several sectors, and each robot is created and modified in such a way that it can perform certain desired tasks (Biswal and Mohanty 2021;Chai et al 2021;da Costa Barros and Nascimento 2021;Gonzalez-Aguirre et al 2021;González et al 2021;Gualtieri et al 2021;Tipary and Erdos 2021). Robotic systems have been introduced and employed in different fields such as the medical field for the rehabilitation of upper and lower limbs by building robotic-based orthosis, prosthetic leg robot and exoskeleton devices (Ahmed et al 2021;Islam et al 2020;Jafari et al 2023;Kalita et al 2021;Narayan and Dwivedy 2021;Tarnita et al 2022;Wang et al 2021). An historical overview of control theory applied to robotic manipulators and fundamental theoretical foundations of robot control were reported in (Spong 2022).…”

Section: Introductionmentioning

confidence: 99%

Comparison Between Some Nonlinear Controllers for the Position Control of Lagrangian-type Robotic Systems

Jenhani

Gritli

Carbone

2022

Chaos Theory and Applications

Self Cite

View full text Add to dashboard Cite

This work addresses the set-point control problem of the position of fully-actuated Lagrangian-type robotic systems by means of some nonlinear control laws. We adopt four different nonlinear control laws: the PD plus gravity compensation controller, the PD plus desired gravity compensation controller, the computed-torque controller and the augmented PD plus gravity compensation controller. An in-depth comparison between these control laws and their application is achieved. Indeed, using some properties, we design some conditions on the feedback gains of the nonlinear controllers ensuring the stability in the closed loop of the zero-equilibrium point and its uniqueness. At the end of this work, we adopt a planar two-degree-of-freedom manipulator robot to illustrate via simulation the difference between and the efficiency of the adopted nonlinear controllers.

show abstract

“…Thus, in [7], a dynamic analysis of a mechanism in the structure of an upper limb rehabilitation robot, called ParReEx, is presented. The dynamic analysis was performed in the first phase, considering the rigid kinematic elements, and later, the elasticity of the elements, as well as the friction in the kinematic couplings.…”

mentioning

confidence: 99%