Sensibility Assessment For User Interface And Training Program Of An Upper-Limb Rehabilitation Robot, D-SEMUL

Nagata, Tomoya; Sato, Chihiro; Abe, Isao; Inoue, Akio; Kugimiya, Shintaro; Ohno, Tetsuya; Hatabe, Shin’nosuke

doi:10.1109/embc.2018.8513074

Cited by 3 publications

(2 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The end-effector-based-type upper limb rehabilitation robots support and pull the end of the patients through a closed-loop linkage mechanism or a series mechanism, so as to realize the rehabilitation training of the upper limb. The most representative of the robots with the closed-loop linkage mechanisms include MIT-MANUS (Hogan et al, 1992), D-SEMUL (Kikuchi et al, 2018), CASIA-ARM (Luo et al, 2019), and SepaRRo (Chang et al, 2018). They could per-Published by Copernicus Publications.…”

Section: Introductionmentioning

confidence: 99%

“…The exoskeleton-type upper limb rehabilitation robot has a kinematic structure similar to that of the human upper limb, and it generates driving force on each joint of the patient's upper limb to drive limb rehabilitation training, such as CADEN-7 (Perry et al, 2007), Harmony (Kim and Deshpande, 2017), ARMin III (Nef et al, 2009), Co-EXos (Zhang et al, 2019), Armeo Power (Jarrase et al, 2015), and LIMPACTA (Otten et al, 2015). Compared with the end-effector-based robot, the exoskeleton robot can drive the patient's limbs to perform three-dimensional rehabilitation training, especially the large-ROM flexion/extension training of the human shoulder.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and evaluation of a novel upper limb rehabilitation robot with space training based on an end effector

Meng

Jiao

et al. 2021

Mech. Sci.

View full text Add to dashboard Cite

Abstract. The target of this paper is to design a lightweight upper limb rehabilitation robot with space training based on end-effector configuration and to evaluate the performance of the proposed mechanism. In order to implement this purpose, an equivalent mechanism to the human being upper limb is proposed before the design. Then, a 4 degrees of freedom (DOF) end-effector-based upper limb rehabilitation robot configuration is designed to help stroke patients perform space rehabilitation training of the shoulder flexion/extension and adduction/abduction and elbow flexion/extension. Thereafter, its kinematical model is established together with the proposed equivalent upper limb mechanism. The Monte Carlo method is employed to establish their workspace. The results show that the overlap of the workspace between the proposed mechanism and the equivalent mechanism is 96.61 %. In addition, this paper also constructs a human–machine closed-chain mechanism to analyze the flexibility of the mechanism. According to the relative manipulability and manipulability ellipsoid, the highly flexible area of the mechanism accounts for 67.6 %, and the mechanism is far away from the singularity on the drinking trajectory. In the end, the single-joint training experiments and a drinking water training trajectory planning experiment are developed and the prototype is manufactured to verify it.

show abstract