Kinematic performance enhancement of wheelchair-mounted robotic arm by adding a linear drive

Borboni, Alberto; Maddalena, Marco; Rastegarpanah, Alireza; Saadat, Mozafar; Aggogeri, Francesco

doi:10.1109/memea.2016.7533770

Cited by 3 publications

(2 citation statements)

References 15 publications

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“…Jaco, marketed since 2009 by the Canadian company Kinova [11], is a 6-DoF manipulator designed for patients with upper limb disabilities such as muscular dystrophy or spinal injuries. Weighing just 5 kg, it offers easy usability and robust gripping capabilities thanks to its three-fingered end-effector, along with software programmability [12]. However, like most devices currently on the market, Jaco is expensive and requires a certain level of understanding and visual skills to be fully utilized.…”

Section: Introductionmentioning

confidence: 99%

Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients

Leone,

Giunta,

Rino

et al. 2024

Robotics

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This paper delineates the design and realization of a Wheelchair-Mounted Robotic Arm (WMRA), envisioned as an autonomous assistance apparatus for individuals encountering motor difficulties and/or upper limb paralysis. The proposed design solution is based on employing a 3D printing process coupled with optimization design techniques to achieve a cost-oriented and user-friendly solution. The proposed design is based on utilizing commercial Arduino control hardware. The proposed device has been named Pick&Eat. The proposed device embodies reliability, functionality, and cost-effectiveness, and features a modular structure housing a 4-degrees-of-freedom robotic arm with a fixing frame that can be attached to commercial wheelchairs. The arm is integrated with an interchangeable end-effector facilitating the use of various tools such as spoons or forks tailored to different food types. Electrical and sensor components were meticulously designed, incorporating sensors to ensure user safety throughout operations. Smooth and secure operations are achieved through a sequential procedure that is depicted in a specific flowchart. Experimental tests have been carried out to demonstrate the engineering feasibility and effectiveness of the proposed design solution as an innovative assistive solution for individuals grappling with upper limb impairment. Its capacity to aid patients during the eating process holds promise for enhancing their quality of life, particularly among the elderly and those with disabilities.

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Section: Introductionmentioning

confidence: 99%

Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients

Leone,

Giunta,

Rino

et al. 2024

Robotics

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“…The postoperative recovery from ankle injury is slow and ineffective while the application of rehabilitation robots is supposed to be possible to solve this problem. Rehabilitation robots can help patients accomplish repetitive training tasks more accurately and effectively without physical therapists’ excessive participation [ 5 , 6 , 7 ]. Increasing attention has been paid to the robotic rehabilitation that is appropriate to perform repetitive exercises for the recovery from neuromuscular injuries [ 8 ].…”

Section: Introductionmentioning

confidence: 99%

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Zhu

Zuo

et al. 2017

Sensors

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A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles’ good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM’s nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

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A Dynamic Evaluation Mechanism of Human Upper Limb Muscle Forces

Qing

Lai

et al. 2021

Computational Biology

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Kinematic performance enhancement of wheelchair-mounted robotic arm by adding a linear drive

Cited by 3 publications

References 15 publications

Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients

Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

A Dynamic Evaluation Mechanism of Human Upper Limb Muscle Forces

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