Development of upper limb rehabilitation robot prototype for home setting

Annisa, J.; Mohamaddan, Shahrol; Jamaluddin, Musa; Aliah, Abd M. Noor; Adjali, Omar; Helmy, Hanan; Norafizah, A.

doi:10.1049/cp.2014.1101

Cited by 6 publications

(7 citation statements)

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“…Furthermore, the mechanisms of exoskeletons and semi-exoskeletons must be reconfigured to be used for both left and right arm or else an exoskeleton must be built for each human arm. Regarding portable mechanisms, they generally perform restricted trajectories limited by their mechanical structures [15][16][17]. Although there are portable end-effector mechanisms that can reproduce customizable trajectories [18,19] they require long links to cover most of the human arm workspace.…”

Section: Introductionmentioning

confidence: 99%

Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation

et al. 2021

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The operation safety of rehabilitation devices must be addressed early in the development process and before being tested on people. In this paper, the operation safety of a 2-DoF (degrees of freedom) planar mechanism for arm rehabilitation is addressed. Then, the safety and efficiency of the device operation is assessed through the Transmission Index (TI) distribution in its workspace. Furthermore, the produced stresses on the human arm are assessed via the FEM (finite element method) when the rehabilitation device reaches five critical positions within its workspace. The TI distribution showed that the proposed design has a proper behaviour from a force transmission point of view, avoiding any singular configuration that might cause a control failure and subsequent risk for the user and supporting the user’s motion with a good efficiency throughout its operational workspace. The FEM analysis showed that Nurse operation is safe for the human arm since a negligible maximum stress of 6.55 × 103 N/m2 is achieved by the human arm when the device is located on the evaluated critical positions.

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Section: Introductionmentioning

confidence: 99%

Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation

et al. 2021

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“…Therefore, since patients require assistance during the execution of repetitive movements and robotic system advantage this process [5,6], a lot of devices have been developed to support the upper limb exercises. For example, in [7] a support system is projected to allow movement on vertical elbow flexion and shoulder/elbow horizontal flexion and extension. However, the device only conducts fundamental motions, but it does not carry out other paths.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, it should be mechanically reconfigured for right and left human arm. On the other hand, the portable devices referred in [7][8][9]19] are portable devices with light frames which could eventually be used as home devices with the proper supervision of a specialist. However, they have predefined paths that cannot be modified due their mechanical shapes, thus the number of exercises or trajectories that they can offer is very limited.…”

Section: Introductionmentioning

confidence: 99%

NURSE-2 DoF Device for Arm Motion Guidance: Kinematic, Dynamic, and FEM Analysis

et al. 2020

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Patients with neurological or orthopedic lesions require assistance during therapies with repetitive movements. NURSE (cassiNo-qUeretaro uppeR-limb aSsistive dEvice) is an arm movement aid device for both right- and left-upper limb. The device has a big workspace to conduct physical therapy or training on individuals including kids and elderly individuals, of any age and size. This paper describes the mechanism design of NURSE and presents a numerical procedure for testing the mechanism feasibility that includes a kinematic, dynamic, and FEM (Finite Element Method) analysis. The kinematic demonstrated that a big workspace is available in the device to reproduce therapeutic movements. The dynamic analysis shows that commercial motors for low power consumption can achieve the needed displacement, acceleration, speed, and torque. Finite Element Method showed that the mechanism can afford the upper limb weight with light-bars for a tiny design. This work has led to the construction of a NURSE prototype with a light structure of 2.6 kg fitting into a box of 35 × 45 × 30 cm. The latter facilitates portability as well as rehabilitation at home with a proper follow-up. The prototype presented a repeatability of ±1.3 cm that has been considered satisfactory for a device having components manufactured with 3D rapid prototyping technology.

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“…However, the device has large links and presents stiffness problems. In [ 24 ], an end-effector device is proposed to assist the arm motion. The forearm of the user is supported by an end-effector device, and the device can assist the shoulder/elbow flexion and extension without other trajectories.…”

Section: Introductionmentioning

confidence: 99%

“…As seen in the above examples, the main issues to consider about the existing devices for arm motion are that the devices with a large workspace are very difficult to transport, construct, and wear as seen in [ 18 – 23 ]; the existing portable devices cover a small workspace [ 16 , 24 – 28 ] and offer few types of exercises [ 24 , 25 ]; and the widely used basic mechanisms do not have motion control during the therapy or they perform a single trajectory as seen in [ 15 , 17 ].…”

Section: Introductionmentioning

confidence: 99%

Experimental Characterization of NURSE, a Device for Arm Motion Guidance

Chaparro-Rico

Cafolla

Ceccarelli

et al. 2018

Journal of Healthcare Engineering

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This paper presents an experimental characterization of NURSE, a device for arm motion guidance. The laboratory setup and testing modes are presented to explain the experimental procedure. Two exercises for the upper limb exercise are used to test the NURSE behaviour, and successful results are presented. Trajectories and linear accelerations are tested when the device performs the two exercises without and with load. In addition, torque and power consumption are considered to check the NURSE behaviour.

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Development of upper limb rehabilitation robot prototype for home setting

Cited by 6 publications

References 0 publications

Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation

Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation

NURSE-2 DoF Device for Arm Motion Guidance: Kinematic, Dynamic, and FEM Analysis

Experimental Characterization of NURSE, a Device for Arm Motion Guidance

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