Manipulability Optimization of a Rehabilitative Collaborative Robotic System

Chiriatti, Giorgia; Bottiglione, Alessandro; Palmieri, Giacomo

doi:10.3390/machines10060452

Cited by 6 publications

(5 citation statements)

References 22 publications

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“…Consider a collision function 𝑓(𝜃, 𝑑), which becomes zero at a maximum distance and attains a maximum value at 𝑑 < 𝑑 𝑚 . Then the collision function gradient ∇𝑓 is given in equation (18):…”

Section: Obstacle Penalty Functionmentioning

confidence: 99%

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Manipulability Analysis of a Tree Type Humanoid Upper-Body Robot with Dual Redundant Arms

Sulaiman,

A. P.,

Mohan

et al. 2024

Scientia Iranica

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Manipulability analysis of humanoid robots with redundant arms is difficult due to the presence of large number of degrees-of-freedom (dof). Most researchers address manipulability issues without considering the effects of joint limits, obstacles and singular spaces in a Cartesian workspace. Hence, development of an accurate manipulability analysis technique, which can increase task performance by considering the above-mentioned issues is crucial for completing cooperative and non-cooperative tasks. Our paper proposes a new approach for determining manipulability measurements of a humanoid robot with redundant arms doing coordinated and non-coordinated tasks by analysing manipulability ellipsoids constructed through a desired trajectory. Penalty functions for compensating joint limits and avoiding obstacle regions are multiplied along with a Jacobian matrix to generate an Augmented Jacobian matrix. Manipulability ellipsoids determined using the Augmented Jacobian for individual configurations are compared with desired manipulability ellipsoids for finalizing the joint solutions. The advantages of proposed approach over conventional approach and significance of employing proposed approach for updating joint configurations are presented in this paper. The experimental validation of the proposed method using a developed humanoid robot is also given in this paper.

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Section: Obstacle Penalty Functionmentioning

confidence: 99%

“…The method aided to avoid singularity regions during operations of the manipulator. Chiriatti et al [18] presented a cobotic system for rehabilitation sessions optimised using manipulability measurements. Manipulability ellipsoids for human arm motions and a cobot were plotted and compared using a manipulability index.…”

Section: Introductionmentioning

confidence: 99%

Manipulability Analysis of a Tree Type Humanoid Upper-Body Robot with Dual Redundant Arms

Sulaiman,

A. P.,

Mohan

et al. 2024

Scientia Iranica

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“…In detail, a new category of robotic devices, known as collaborative robots, is growing in popularity in the field of rehabilitation. Due to their inherent safety and reliability, collaborative robots are increasingly being explored in healthcare applications, including robotic rehabilitation and kinematic assessment, where they can provide physical interaction with patients driven by actuation systems [ 6 ].…”

Section: Introductionmentioning

confidence: 99%

The Use of Head-Mounted Display Systems for Upper Limb Kinematic Analysis in Post-Stroke Patients: A Perspective Review on Benefits, Challenges and Other Solutions

De Pasquale,

Bonanno,

Mojdehdehbaher

et al. 2024

Bioengineering

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In recent years, there has been a notable increase in the clinical adoption of instrumental upper limb kinematic assessment. This trend aligns with the rising prevalence of cerebrovascular impairments, one of the most prevalent neurological disorders. Indeed, there is a growing need for more objective outcomes to facilitate tailored rehabilitation interventions following stroke. Emerging technologies, like head-mounted virtual reality (HMD-VR) platforms, have responded to this demand by integrating diverse tracking methodologies. Specifically, HMD-VR technology enables the comprehensive tracking of body posture, encompassing hand position and gesture, facilitated either through specific tracker placements or via integrated cameras coupled with sophisticated computer graphics algorithms embedded within the helmet. This review aims to present the state-of-the-art applications of HMD-VR platforms for kinematic analysis of the upper limb in post-stroke patients, comparing them with conventional tracking systems. Additionally, we address the potential benefits and challenges associated with these platforms. These systems might represent a promising avenue for safe, cost-effective, and portable objective motor assessment within the field of neurorehabilitation, although other systems, including robots, should be taken into consideration.

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“…This paper follows up on the analyses conducted over the last two years, as detailed in references [ 22 , 23 , 24 ]. We propose a mechatronic implementation of a platform for rehabilitation practices.…”

Section: Introductionmentioning

confidence: 99%

A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results

Chiriatti,

Carbonari,

Ceravolo

et al. 2023

Sensors

Self Cite

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One of the most interesting characteristics of collaborative robots is their ability to be used in close cooperation scenarios. In industry, this facilitates the implementation of human-in-loop workflows. However, this feature can also be exploited in different fields, such as healthcare. In this paper, a rehabilitation framework for the upper limbs of neurological patients is presented, consisting of a collaborative robot that helps users perform three-dimensional trajectories. Such a practice is aimed at improving the coordination of patients by guiding their motions in a preferred direction. We present the mechatronic setup, along with a preliminary experimental set of results from 19 volunteers (patients and control subjects) who provided positive feedback on the training experience (52% of the subjects would return and 44% enjoyed performing the exercise). Patients were able to execute the exercise, with a maximum deviation from the trajectory of 16 mm. The muscular effort required was limited, with average maximum forces recorded at around 50 N.

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Manipulability Optimization of a Rehabilitative Collaborative Robotic System

Cited by 6 publications

References 22 publications

Manipulability Analysis of a Tree Type Humanoid Upper-Body Robot with Dual Redundant Arms

Manipulability Analysis of a Tree Type Humanoid Upper-Body Robot with Dual Redundant Arms

The Use of Head-Mounted Display Systems for Upper Limb Kinematic Analysis in Post-Stroke Patients: A Perspective Review on Benefits, Challenges and Other Solutions

A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results

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