First Clinical Evaluation of a Spherical Robotic System for Shoulder Rehabilitation

Vaida, Călin; Ulinici, Ionut; Banica, Alexandru; Burz, Alin; Gherman, Bogdan; Tucan, Paul; Pîslă, Adrian; Carbone, Giuseppe; Pîslă, Doina

doi:10.1007/978-3-030-58104-6_8

Cited by 2 publications

(3 citation statements)

References 8 publications

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“…The need to monitor torque during the procedure came as a result of in-hospital tests performed on patients [39][40][41][42], where the ASPIRE succeeded in performing the required rehabilitation motion, but there were times when the operator had to manually stop the robotic system because the patient arm was unable to achieve the desired amplitude due The results obtained during the virtual simulation imply the use of quite big motors to perform the rehabilitation motion; to overcome this problem, gearboxes were used. For the flexion-extension mechanism a worm gearbox gear ratio I = 45:1 was used, for the adduction-abduction mechanism a planetary gearbox with gear ratio I = 100:1 was used, and for the pronation-supination mechanism a planetary gearbox with gear ration I = 11:1 was used.…”

Section: The Development Of Torque Monitoring Systemmentioning

confidence: 99%

Section: The Development Of Torque Monitoring Systemmentioning

confidence: 99%

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A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

et al. 2021

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Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (operator, robot, and patient) and overcome in a certain measure all the events that may occur during the robotic rehabilitation procedure. This paper presents the development of an internal torque monitoring system for ASPIRE. This is a parallel robot designed for shoulder rehabilitation, which enables the use of strategies towards developing a HRI (human–robot interaction) system for the therapy. A complete analysis regarding the components of the robotic system is carried out with the purpose of determining the dynamic behavior of the system. Next, the proposed torque monitoring system is developed with respect to the previously obtained data. Several experimental tests are performed using healthy subjects being equipped with a series of biomedical sensors with the purpose of validating the proposed torque monitoring strategy and, at the same time, to satisfy the degree of safety that is requested by the medical procedure.

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Section: The Development Of Torque Monitoring Systemmentioning

confidence: 99%

Section: The Development Of Torque Monitoring Systemmentioning

confidence: 99%

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

et al. 2021

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“…The robotic systems ASPIRE [ 25 , 26 , 27 ], ParReEx Elbow, and ParReEx Wrist [ 28 , 29 , 30 ] ( Figure 1 ) are innovative parallel robots that were designed for upper limb rehabilitation (shoulder, elbow, forearm, and wrist) and have already been presented in detail in a dedicated publication [ 23 ]. The ASPIRE ( Figure 1 a) robotic device has a spherical parallel structure and was designed for the rehabilitation of the shoulder joint.…”

Section: Methodsmentioning

confidence: 99%

Comparative Assessment of Robotic versus Classical Physical Therapy Using Muscle Strength and Ranges of Motion Testing in Neurological Diseases

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et al. 2021

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The use of robotic systems in physical rehabilitation protocols has become increasingly attractive and has been given more focus in the last decade as a result of the high prevalence of motor deficits in the population, which is linked to an overburdened healthcare system. In accordance with current trends, three robotic devices have been designed, called ParReEx Elbow, ParReEx Wrist, and ASPIRE, which were designed to improve upper-limb medical recovery (shoulder, elbow, forearm, and wrist). The three automated systems were tested in a hospital setting with 23 patients (12 men and 11 women) suffering from motor deficits caused by various neurological diseases such as stroke, Parkinson’s disease, and amyotrophic lateral sclerosis (ALS). The patients were divided into three groups based on their pathology (vascular, extrapyramidal, and neuromuscular). Objective clinical measures, such as the Medical Research Council (MRC) scale, goniometry, and dynamometry, were used to compare pre- and post-rehabilitation assessments for both robotic-aided and manual physical rehabilitation therapy. The results of these tests showed that, with the exception of a few minor differences in muscular strength recovery, the robotic-assisted rehabilitation methods performed equally as well as the manual techniques, though only minor improvements were validated during short-term rehabilitation. The greatest achievements were obtained in the goniometric analysis where some rehabilitation amplitudes increased by over 40% in the vascular group, but the same analysis returned regressions in the neuromuscular group. The MRC scale analysis returned no significant differences, with most regressions occurring in the neuromuscular group. The dynamometric analysis mostly returned improvements, but the highest value evolution was 19.07%, which also in the vascular group. While the results were encouraging, more research is needed with a larger sample size and a longer study period in order to provide more information regarding the efficacy of both rehabilitation methods in neurological illnesses.

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First Clinical Evaluation of a Spherical Robotic System for Shoulder Rehabilitation

Cited by 2 publications

References 8 publications

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

Comparative Assessment of Robotic versus Classical Physical Therapy Using Muscle Strength and Ranges of Motion Testing in Neurological Diseases

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