The Conceptual Design of a Mechatronic System to Handle Bedridden Elderly Individuals

Silva, Bruno; Machado, José; Soares, Filomena; Carvalho, Vı́tor; Matos, Demétrio; Bezerra, Karolina

doi:10.3390/s16050725

Cited by 7 publications

(5 citation statements)

References 10 publications

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“…Anthropometric data is needed to determine the parameters of the subject's arm mechanism, which is used to support the exoskeleton model that matches the size of the Indonesian arm [24]. While the data on arm weight found that the percentage distribution of human arm mass is 3.2% of body weight (kg) which is assumed to be 70kg, and the arm weight is 2.45 kg [25]. Table 3 describes the parameters of the mechanism of the human arm, and Table 4 describes the parameters of the exoskeleton mechanism.…”

Section: Results and Simulationmentioning

confidence: 99%

Exoskeleton Design Using Kinematics Analysis for Upper Limb Rehabilitation in Post-Stroke Patients

Wahyu,

Sumartini,

Widyo

et al. 2023

E3S Web of Conf.

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Robotic technology in the last decade has developed to support the rehabilitation of post-stroke patients. The exoskeleton design model approach is carried out to simulate kinematics according to the needs of upper limb rehabilitation. The simulated design is identical to the structure of the human arm, so it requires planning and method according to the needs of human arm anatomy movements. The exoskeleton model must meet comfort and adjustment for medical rehabilitation, so it is essential to consider the kinematic analysis in its design. In this paper, we will analyze the kinematics of the exoskeleton and simulate flexion/extension and supination/pronation movements, with the targeted area being the forearm with the 3 Degrees of Freedom (DoF) mechanism consisting of two DoF. Kinematic simulations are carried out with the RoboAnalyzer software using predefined Denavit-Hartenberg parameters. The simulation results show that the end effector's initial position on the X axis is to coordinate 0 on the base 45o joint shoulder, then the rotational movement on the elbow is 1150 . In the wrist position, the action is supination and pronation because the joint is parallel to the elbow. Hence, the coordinates of the x and y-axis rotation changes follow elbow coordinates.

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Section: Results and Simulationmentioning

confidence: 99%

Exoskeleton Design Using Kinematics Analysis for Upper Limb Rehabilitation in Post-Stroke Patients

Wahyu,

Sumartini,

Widyo

et al. 2023

E3S Web of Conf.

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“…Bruno et al showed that cost, comfort, construction, handling, and programming complexity are some factors on which several transfer systems have been developed. Thus, based on the decision matrix, a center-driven conveyor belt system is best suited for transferring the person from a bed to a smart wheelchair [30]. A conveyor system is mounted on the wheelchair to receive the person transferred from the bed.…”

Section: The Body-transfer Smart Home Design Conceptmentioning

confidence: 99%

The Design and User Evaluation of Body-Transfer System via Sliding Transfer Approach for Assisting Functionally Impaired People

et al. 2023

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Assistive devices can significantly improve caregivers’ ability to help disabled people with their daily activities. Existing assistive devices are not fully capable of safe transfer and are still in their early stages of development. In this research, a body-transfer system is designed and developed to ensure that the posture and body angle of the person in the sagittal plane remains unaltered while transferring from bed to wheelchair and vice versa. Two independently controlled conveyor belts (2-DOF) mounted on the indigenously developed bed are employed to transfer the disabled person using a sliding approach. Additionally, a wheelchair with conveyor belts that are fully automated is used to carry and transfer the user to and from the wheelchair. Furthermore, an integrated control architecture has been developed for safely operating the entire body-transfer system (from an indigenously developed bed and wheelchair). Finally, an experimental assessment of the body-transfer system’s performance has been conducted. The experimental findings demonstrate that the system can transfer up to 120 kg of body weight while the user’s posture remains unaltered in the sagittal plane. Users perceive a reduction in wrist and shoulder pain index using the body-transfer system. The system has great potential for relocating disabled persons safely while reducing the load on caregivers.

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“…To do so, the density of elements has been modified so that the values of the upper arm and forearm mass are [32]:…”

Section: Load Applicationmentioning

confidence: 99%

Mechanical Model and FEM Simulations for Efforts on Biceps and Triceps Muscles under Vertical Load: Mathematical Formulation of Results

et al. 2022

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Although isometric contractions in human muscles have been analyzed several times, there are no FEA models that allow us to use the same modeled joint (the elbow under our case) in different conditions. Most elbow joints use 3D elements for meshing. Representing the muscles in the joint is quite useful when the study is focused on the muscle itself, knowing stress distribution on muscle, and checking damage in muscle in a detailed manner (tendon–muscle insertion, for example). However, this technique is not useful for studying muscle behavior at different positions of the joint. This study, based on the mechanical model of the elbow joint, proposes a methodology for modelling muscles that will be studied in different positions by meshing them with 1D elements. Furthermore, the methodology allows us to calculate biceps and triceps efforts under load for different angles of elbow joint aperture. The simulation results have been mathematically modelled to obtain general formulations for these efforts, depending on the load and the aperture angle.

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The Conceptual Design of a Mechatronic System to Handle Bedridden Elderly Individuals

Cited by 7 publications

References 10 publications

Exoskeleton Design Using Kinematics Analysis for Upper Limb Rehabilitation in Post-Stroke Patients

Exoskeleton Design Using Kinematics Analysis for Upper Limb Rehabilitation in Post-Stroke Patients

The Design and User Evaluation of Body-Transfer System via Sliding Transfer Approach for Assisting Functionally Impaired People

Mechanical Model and FEM Simulations for Efforts on Biceps and Triceps Muscles under Vertical Load: Mathematical Formulation of Results

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