Design and performance analysis of a parallel wrist rehabilitation robot (PWRR)

Zhang, Leiyu; Li, Jianfeng; Chen, Ying; Dong, Mingjie; Fang, Bin; Zhang, Pengfei

doi:10.1016/j.robot.2019.103390

Cited by 34 publications

(16 citation statements)

References 21 publications

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“…In [31], the authors developed a parallel wrist rehabilitation robot (PWRR), suitable mostly for patients suffering hypertonia, stroke, or wrist injuries. The proposed approach is based on an end-effector structure that performs constant rehabilitation training for the wrist joints, consisting of two rotational DOFs for wrist F/E and R/U movements.…”

Section: Appl Sci 2021 11 X For Peer Review 3 Of 23mentioning

confidence: 99%

Design and Development of Continuous Passive Motion (CPM) for Fingers and Wrist Grounded-Exoskeleton Rehabilitation System

Almusawi

Husi

2021

Applied Sciences

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Impairments of fingers, wrist, and hand forearm result in significant hand movement deficiencies and daily task performance. Most of the existing rehabilitation assistive robots mainly focus on either the wrist training or fingers, and they are limiting the natural motion; many mechanical parts associated with the patient’s arms, heavy and expensive. This paper presented the design and development of a new, cost-efficient Finger and wrist rehabilitation mechatronics system (FWRMS) suitable for either hand right or left. The proposed machine aimed to present a solution to guide individuals with severe difficulties in their everyday routines for people suffering from a stroke or other motor diseases by actuating seven joints motions and providing them repeatable Continuous Passive Motion (CPM). FWRMS approach uses a combination of; grounded-exoskeleton structure to provide the desired displacement to the hand’s four fingers flexion/extension (F/E) driven by an indirect feed drive mechanism by adopting a leading screw and nut transmission; and an end-effector structure to provide angular velocity to the wrist flexion/ extension (F/E), wrist radial/ulnar deviation (R/U), and forearm supination/pronation (S/P) driven by a rotational motion mechanism. We employed a single dual-sided actuator to power both mechanisms. Additionally, this article presents the implementation of a portable embedded controller. Moreover, this paper addressed preliminary experimental testing and evaluation process. The conducted test results of the FWRMS robot achieved the required design characteristics and executed the motion needed for the continuous passive motion rehabilitation and provide stable trajectories guidance by following the natural range of motion (ROM) and a functional workspace of the targeted joints comfortably for all trainable movements by FWRMS.

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Section: Appl Sci 2021 11 X For Peer Review 3 Of 23mentioning

confidence: 99%

Design and Development of Continuous Passive Motion (CPM) for Fingers and Wrist Grounded-Exoskeleton Rehabilitation System

Almusawi

Husi

2021

Applied Sciences

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“…Pneumatic actuator devices with a glove-type apparatus were developed for stroke patients as well, 21,22 adding wrist flexion/extension or radial/ulnar deviation. 23,24 These pneumatic designs have the benefit of being lightweight and having low inertia, resulting in higher safety from the compliance of the soft robotic structure. But these systems face issues with force/ torque accuracy and are less compact due to the pneumatic system for actuation.…”

Section: Introductionmentioning

confidence: 99%

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

Kantu

et al. 2021

International Journal of Advanced Robotic Systems

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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.

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“…Many robotic systems have been developed for upper limb rehabilitation. These devices can be used for wrist rehabilitation (Zhang et al, 2020;Moshaii et al, 2019;Ben Aabdallah et al, 2016) for elbow rehabilitation (Koh et al, 2017;Liu et al, 2018) and for shoulder rehabilitation (Kim et al, 2019;Takasaki et al, 2018). Also, some complex systems have been developed to cover all upper limb joints (Balasubramanian and He, 2012;Díez et al, 2016;Bouteraa and Abdallah, 2016;Senanayake and Naim, 2019;Bouteraa et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Design and control of an exoskeleton robot with EMG-driven electrical stimulation for upper limb rehabilitation

Bouteraa

Abdallah

Elmogy

2020

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Purpose The purpose of this paper is to design and develop a new robotic device for the rehabilitation of the upper limbs. The authors are focusing on a new symmetrical robot which can be used to rehabilitate the right upper limb and the left upper limb. The robotic arm can be automatically extended or reduced depending on the measurements of the patient's arm. The main idea is to integrate electrical stimulation into motor rehabilitation by robot. The goal is to provide automatic electrical stimulation based on muscle status during the rehabilitation process. Design/methodology/approach The developed robotic arm can be automatically extended or reduced depending on the measurements of the patient's arm. The system merges two rehabilitation strategies: motor rehabilitation and electrical stimulation. The goal is to take the advantages of both approaches. Electrical stimulation is often used for building muscle through endurance, resistance and strength exercises. However, in the proposed approach the electrical stimulation is used for recovery, relaxation and pain relief. In addition, the device includes an electromyography (EMG) muscle sensor that records muscle activity in real time. The control architecture provides the ability to automatically activate the appropriate stimulation mode based on the acquired EMG signal. The system software provides two modes for stimulation activation: the manual preset mode and the EMG driven mode. The program ensures traceability and provides the ability to issue a patient status monitoring report. Findings The developed robotic device is symmetrical and reconfigurable. The presented rehabilitation system includes a muscle stimulator associated with the robot to improve the quality of the rehabilitation process. The integration of neuromuscular electrical stimulation into the physical rehabilitation process offers effective rehabilitation sessions for neuromuscular recovery of the upper limb. A laboratory-made stimulator is developed to generate three modes of stimulation: pain relief, massage and relaxation. Through the control software interface, the physiotherapist can set the exercise movement parameters, define the stimulation mode and record the patient training in real time. Research limitations/implications There are certain constraints when applying the proposed method, such as the sensitivity of the acquired EMG signals. This involves the use of professional equipment and mainly the implementation of sophisticated algorithms for signal extraction. Practical implications Functional electrical stimulation and robot-based motor rehabilitation are the most important technologies applied in post-stroke rehabilitation. The main objective of integrating robots into the rehabilitation process is to compensate for the functions lost in people with physical disabilities. The stimulation technique can be used for recovery, relaxation and drainage and pain relief. In this context, the idea is to integrate electrical stimulation into motor rehabilitation based on a robot to obtain the advantages of the two approaches to further improve the rehabilitation process. The introduction of this type of robot also makes it possible to develop new exciting assistance devices. Originality/value The proposed design is symmetrical, reconfigurable and light, covering all the joints of the upper limbs and their movements. In addition, the developed platform is inexpensive and a portable solution based on open source hardware platforms which opens the way to more extensions and developments. Electrical stimulation is often used to improve motor function and restore loss of function. However, the main objective behind the proposed stimulation in this paper is to recover after effort. The novelty of the proposed solution is to integrate the electrical stimulation powered by EMG in robotic rehabilitation.

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Design and performance analysis of a parallel wrist rehabilitation robot (PWRR)

Cited by 34 publications

References 21 publications

Design and Development of Continuous Passive Motion (CPM) for Fingers and Wrist Grounded-Exoskeleton Rehabilitation System

Design and Development of Continuous Passive Motion (CPM) for Fingers and Wrist Grounded-Exoskeleton Rehabilitation System

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

Design and control of an exoskeleton robot with EMG-driven electrical stimulation for upper limb rehabilitation

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