Design Issues for an Inherently Safe Robotic Rehabilitation Device

Carbone, Giuseppe; Gherman, Bogdan; Ulinici, Ionut; Vaida, Călin; Pîslă, Doina

doi:10.1007/978-3-319-61276-8_110

Cited by 40 publications

(22 citation statements)

References 8 publications

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“…In order to overcome this difficult situation, robotic structures for post-stroke rehabilitation of upper or lower limb started to be developed, being a suitable aid for the kinetotherapist performing the repetitive rehabilitation motions. In the last decades, a series of robotic structures for medical rehabilitation of the upper limb have been developed and analyzed by Huang [6], Al-Fahaan [7], Vaida [8,9], Carbone [10], Görgülü [11], Husty [12], Berceanu [13], Tarnita [14], Gherman [15], Tucan [16] and furthermore systematically reviewed by Ona [17,18], Baur [19], Onase [20], and Rehmat [21]. Some significant research prototypes are presented below.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation

Tucan

Gherman

Major

et al. 2020

IJERPH

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A few decades ago, robotics started to be implemented in the medical field, especially in the rehabilitation of patients with different neurological diseases that have led to neuromuscular disorders. The main concern regarding medical robots is their safety assurance in the medical environment. The goal of this paper is to assess the risk of a medical robotic system for elbow and wrist rehabilitation in terms of robot and patient safety. The approached risk assessment follows the ISO12100:2010 risk management chart in order to determine, identify, estimate, and evaluate the possible risk that can occur during the use of the robotic system. The result of the risk assessment process is further analyzed using a fuzzy logic system in order to determine the safety degree conferred during the use of the robotic system. The innovative process concerning the risk assessment allows the achievement of a reliable medical robotic system both for the patient and the clinicians as well. The clinical trials performed on a group of 18 patients validated the functionality and the safe behavior of the robotic system.

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Section: Introductionmentioning

confidence: 99%

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation

Tucan

Gherman

Major

et al. 2020

IJERPH

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“…In the last decade, a research team led by the second author at LARM has been investigating several cable-driven parallel robot architectures within the European co-funded project AGEWELL, currently underway at Technical University of Cluj-Napoca, Romania. Specifically, this project aims to investigate novel devices and design solutions for limb rehabilitation tasks, as reported for example in [10,11]. Within this frame a novel cable-driven design solution has been proposed and built as shown in Figure 1.…”

Section: Characteristics Of Lawex Robotmentioning

confidence: 99%

“…This paper improves on the approach proposed in [8] by proposing an efficient way to calculate and achieve a straight-line trajectory after failure, specifically for the case of the LAWEX robot [10,11]. This represents a first attempt to apply the Wrench Exertion Capability [12,13] as a tool to manage safety in cable-driven robots.…”

Section: Introductionmentioning

confidence: 99%

Cable Failure Operation Strategy for a Rehabilitation Cable-Driven Robot

2019

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Cable-Driven Parallel Robots (CDPR) have attracted significant research interest for applications ranging from cable-suspended camera applications to rehabilitation and home assistance devices. Most of the intended applications of CDPR involve direct interaction with humans where safety is a key issue. Accordingly, this paper addresses the safety of CDPRs in proposing a strategy to minimize the consequences of cable failures. The proposed strategy consists of detecting a cable failure and avoiding any consequent motion of the end-effector. This is obtained by generating a wrench that is opposite to the direction of the ongoing motion so that the end-effector can reach a safe position. A general formulation is outlined as well as a specific case study referring to the LAWEX (LARM Wire-driven EXercising device), which has been designed within the AGEWELL project for limb rehabilitation. Real-time calculation is carried out for identifying feasible cable tensions, which generate a motion that provides the desired braking force. Simulations are carried out to prove the feasibility and effectiveness of the strategy outlined here in cases of cable failure.

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“…The advancements in kinematics and control [9][10][11][12][13][14][15][16][17][18][19] have led towards safer robot behaviors, enabling the development of multiple robotic solutions for the rehabilitation of the upper limbs [20][21][22][23][24][25][26], some of them being developed until the stage of clinical trials.…”

Section: Introductionmentioning

confidence: 99%

Optimization of the ASPIRE Spherical Parallel Rehabilitation Robot Based on Its Clinical Evaluation

Tucan

Vaida

Ulinici

et al. 2021

IJERPH

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The paper presents the design optimization of the ASPIRE spherical parallel robot for shoulder rehabilitation following clinical evaluation and clinicians’ feedback. After the development of the robotic structure and the implementation of the control system, ASPIRE was prepared for clinical evaluation. A set of clinical trials was performed on 24 patients with different neurological disorders to obtain the patient and clinician acceptance of the rehabilitation system. During the clinical trials, the behavior of the robotic system was closely monitored and analyzed in order to improve its reliability and overall efficiency. Along with its reliability and efficiency, special attention was given to the safety characteristics during the rehabilitation task.

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Design Issues for an Inherently Safe Robotic Rehabilitation Device

Cited by 40 publications

References 8 publications

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation

Cable Failure Operation Strategy for a Rehabilitation Cable-Driven Robot

Optimization of the ASPIRE Spherical Parallel Rehabilitation Robot Based on Its Clinical Evaluation

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