Design of a 4-DOF grounded exoskeletal robot for shoulder and elbow rehabilitation

Abstract

<jats:p>The number of cerebrovascular and neuromuscular diseases is increasing in parallel with the rising average age of the world’s population. Since the shoulder anatomy is complex, the number of rehabilitation robots for shoulder movements is limited. This paper presents the mechanical design, control, and testing of a 4 degrees of freedom (DOF) grounded upper limb exoskeletal robot. It is capable of four different therapeutic exercises (passive, active assistive, isotonic and isometric). During the mechanical design, the forces to be exposed to the robot were determined and after the design, the system was tested with strength analysis. Also, a low-cost electromyograph device was developed and integrated into the system to measure muscular activation for feedback and instantaneously muscle activation control for the physiotherapist during the therapy. The system can be used for rehabilitation on the shoulder and elbow. A PID controller for position-controlled exercises were developed. The test results were presented in terms of simulation and the real system for passive exercise. According to the test results, the developed system can perform passive exercise and can be used for other therapeutic exercises as well.</jats:p>

Studying the change in inclination and semi-major axis of the satellites for low earth orbits

“…This is why computational techniques are still utilized nearly entirely in satellite geodesy orbit computations. The osculating elements of orbital for TDRS's satellite demonstrated in a table (1), figures (2)(3)(4)(5) shows the variation in the inclination of the above satellites since the perturbation of central body including tidal of the Solid Earth over a short period 2 day corresponding on about 25 revolutions around the earth and period for 2, 4and 8 days. From these figures, we calculate the variation (∆𝑖 𝑖 ⁄ ), the result is given in table (2) shows that as the inclinations of satellites increase, the (∆𝑖 𝑖 ⁄ ) decrease.…”

“…The osculating elements of orbital for TDRS's satellite demonstrated in a table (1), figures (2)(3)(4)(5) shows the variation in the inclination of the above satellites since the perturbation of central body including tidal of the Solid Earth over a short period 2 day corresponding on about 25 revolutions around the earth and period for 2, 4and 8 days. From these figures, we calculate the variation (∆𝑖 𝑖 ⁄ ), the result is given in table (2) shows that as the inclinations of satellites increase, the (∆𝑖 𝑖 ⁄ ) decrease. Figures (6)(7)(8)(9) shows the periodic perturbation on the major semi-axis, and the variation in (∆𝑎 𝑎 ⁄ ) remains constant over by period 1, 2, 4 and 8 days as given in Table (3) the semi major axis has a secular decreasing behavior as well as a simple periodic.…”

“…A satellite's orbit is influenced by disturbing factors, including accelerations originating from the central body, drag, pressure of solar radiation, third body, and several other forces, although most are very limited and typically ignored. As machine capabilities grow to be regarded, tides are becoming more significant [1][2][3]. In low Earth orbit, tidal forces induce measurable shifts in the satellites [4,5].…”

Measuring the force of the tip of the elephants trunk

“…bite force [22] , hand grip force [23 , 24] , plant growth [25] ) or engineering (e.g. [26 , 27] ) for their excellent cost / accuracy ratio.…”

The Modified Procedure of Totally Tubeless PNL

“…In an effort to minimize trauma to the kidneys and intrarenal vessels, the last decade has been marked by the wide adoption of mini percutaneous nephrolithotomy (mPNL), with decrease in size of external sheath to <22 Fr [8; 9]. Several metaanalyses showed that stone-free rate (SFR) when performing mPNL were equal to the rate of standard PNL, while reducing the length of hospitalization, postoperative pain, and the need for analgesics [10][11][12][13]. This result is obtained due to the fact that the interventions performed during operations are practically the same for both methods, and the main difference lies in the size of the instruments.…”