Preliminary mechanical design of NU-Wrist: A 3-DOF self-aligning Wrist rehabilitation robot

Omarkulov, Nurdos; Telegenov, Kuat; Zeinullin, Maralbek; Tursynbek, Iliyas; Shintemirov, Almas

doi:10.1109/biorob.2016.7523753

Cited by 30 publications

(14 citation statements)

References 39 publications

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“…Pronation is applied to a hand such that the palm turns backward or downward. Supination is the rotation of the forearm such that the palm of the hand faces anteriorly to the anatomic position (Omarkulov et al, 2016). These motions are given in Fig.…”

Section: Wrist and Forearm Motion And Exoskeleton Designmentioning

confidence: 99%

“…It is used to adjust the location of the wrist joint. Actually, there is a slight linear eccentricity between the bones corresponding to FE and AA (Gopura and Kiguchi, 2007;Schiele and van der Helm, 2006;Omarkulov et al, 2016). This linear slide rail is a passive DOF to compensate the misalignment during the exercise.…”

Section: Exoskeleton With the Denso Robotmentioning

confidence: 99%

“…The 5 degrees of freedom (DOF) MAHI (Gupta and O'Malley, 2006), 6 DOF ARMin (Nef et al, 2008) and 7 DOF CADEN-7 (Perry et al, 2007) are some examples of exoskeletons used in upper-extremity rehabilitation. LIMPACT (Otten et al, 2015), MIT-Manus (Krebs et al, 1998) and MIME (Lum et al, 2005) are prime examples of systems designed for assisting upper-limb proximal joints (the shoulder and the elbow). On the other hand, CR-2 Haptic (Khor et al, 2014) has one rotational DOF.…”

Section: Introductionmentioning

confidence: 99%

“…Parallelogram linkages are used for this purpose. Nu-Wrist (Omarkulov et al, 2016) is a novel self-aligning 3 DOF system allowing passive adaptation in the wrist joint.…”

Section: Introductionmentioning

confidence: 99%

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Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation

2019

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Abstract. This paper presents a new exoskeleton design for wrist and forearm rehabilitation. The contribution of this study is to offer a methodology which shows how to adapt a serial manipulator that reduces the number of actuators used on exoskeleton design for the rehabilitation. The system offered is a combination of end-effector- and exoskeleton-based devices. The passive exoskeleton is attached to the end effector of the manipulator, which provides motion for the purpose of rehabilitation process. The Denso VP 6-Axis Articulated Robot is used to control motion of the exoskeleton during the rehabilitation process. The exoskeleton is designed to be used for both wrist and forearm motions. The desired moving capabilities of the exoskeleton are flexion–extension (FE) and adduction–abduction (AA) motions for the wrist and pronation–supination (PS) motion for the forearm. The anatomical structure of a human limb is taken as a constraint during the design. The joints on the exoskeleton can be locked or unlocked manually in order to restrict or enable the movements. The parts of the exoskeleton include mechanical stoppers to prevent the excessive motion. One passive degree of freedom (DOF) is added in order to prevent misalignment problems between the axes of FE and AA motions. Kinematic feedback of the experiments is performed by using a wireless motion tracker assembled on the exoskeleton. The results proved that motion transmission from robot to exoskeleton is satisfactorily achieved. Instead of different exoskeletons in which each axis is driven and controlled separately, one serial robot with adaptable passive exoskeletons is adequate to facilitate rehabilitation exercises.

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Section: Wrist and Forearm Motion And Exoskeleton Designmentioning

confidence: 99%

Section: Exoskeleton With the Denso Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…Parallelogram linkages are used for this purpose. Nu-Wrist (Omarkulov et al, 2016) is a novel self-aligning 3 DOF system allowing passive adaptation in the wrist joint.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation

2019

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show abstract

“…However, these robots showed poor adaptability to different individuals. NU-Wrist [18] is a passive self-aligning wrist rehabilitation robot. However, the lack of a handle and forearm support causes inconvenience.…”

Section: Introductionmentioning

confidence: 99%

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

Yang

et al. 2020

J Bionic Eng

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Exoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia. Unfortunately, poor human-machine physiological coupling causes unexpected damage to human of muscles and joints. Moreover, inferior humanoid kinematics control would restrict human natural kinematics. Failing to deal with these problems results in bottlenecks and hinders its application. In this paper, the simplified muscle model and muscle-liked kinematics model were proposed, based on which a soft wrist exoskeleton was established to realize natural human interaction. Firstly, we simplified the redundant muscular system related to the wrist joint from ten muscles to four, so as to realize the human-robot physiological coupling. Then, according to the above human-like musculoskeletal model, the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist. The results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3% and 35.6%, respectively. Additionally, the humanoid motion trajectories similarity of the robot reached 91.5%. Stroke patients could recover 90.3% of natural motion ability to satisfy for most daily activities. This work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

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Design of Single Degree-of-Freedom Mechanisms for Hand Neurorehabilitation

Nehrujee

Guguloth

Reethajanetsurekha

et al. 2020

Lecture Notes in Mechanical Engineering

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Preliminary mechanical design of NU-Wrist: A 3-DOF self-aligning Wrist rehabilitation robot

Cited by 30 publications

References 39 publications

Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation

Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

Design of Single Degree-of-Freedom Mechanisms for Hand Neurorehabilitation

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