The performance of a smart ball-and-socket actuator applied to upper limb rehabilitation

Wahed, Ali K. El; Balkhoyor, Loaie B.

doi:10.1177/1045389x18780349

Cited by 9 publications

(7 citation statements)

References 36 publications

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“…shown in Figure 11A, has a T-shaped drum with an arc form surface boundary, which can meet the requirements for flexible variation of the braking torque. To enhance the rehabilitation of the human shoulder and upper limb, a multi-freedom MRF based damper with a ball-and-socket structure was proposed (Wahed and Balkhoyor, 2018;Wahed and Wang, 2019). The new damper shown in Figure 11B can effectively simulate the motion of human joints and provides a rehabilitation training environment.…”

Section: Magnetorheological Fluid Based Devices In Medical Applicationsmentioning

confidence: 99%

“…FIGURE 11 | (A) MRF damper with drum of an arc surface boundary (Mousavi and Sayyaadi, 2018). (B) Smart ball-socket actuator for upper limb rehabilitation (Wahed and Balkhoyor, 2018). (C) Magnetization-induced self-assembling process of microneedle array (Chen Z. P. et al, 2018;Chen et al 2019a;Chen et al, 2019b).…”

Section: Magnetorheological Fluid Based Devices In Medical Applicationsmentioning

confidence: 99%

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A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

Hua

Liu

Li³

et al. 2021

Front. Mater.

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Magnetorheological fluid (MRF) is a kind of smart materials with rheological behavior change by means of external magnetic field application, which has been widely adopted in many complex systems of different technical fields. In this work, the state-of-the-art MRF based devices are reviewed according to structural configurations reported from 2018 to 2020. Based on the rheological characteristic, the MRF has a variety of operational modes, such as flow mode, shear mode, squeeze mode and pinch mode, and has unique advantages in some special practical applications. With reference to these operational modes, improved engineering mechanical devices with MRF are summarized, including brakes, clutches, dampers, and mounts proposed over these 3 years. Furthermore, some new medical devices using the MRF are also investigated, such as surgical assistive devices and artificial limbs. In particular, some outstanding advances on the structural innovations and application superiority of these devices are introduced in detail. Finally, an overview of the significant issues that occur in the MRF based devices is reported, and the developing trends for the devices using the MRF are discussed.

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Section: Magnetorheological Fluid Based Devices In Medical Applicationsmentioning

confidence: 99%

Section: Magnetorheological Fluid Based Devices In Medical Applicationsmentioning

confidence: 99%

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

Hua

Liu

Li³

et al. 2021

Front. Mater.

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“…where h 0 and h ' denote low viscosity and viscosity for high strain rates, respectively. Herschel-Bulkley model enables the behavior of the fluid to be predicted in the range of high shear rates (El Wahed and Balkhoyor, 2018;Zubieta et al, 2009). Additionally, it allows considering the phenomenon of shear thickening and shear thinning.…”

Section: The Mathematical Modeling Of Magnetorheological Fluidmentioning

confidence: 99%

“…Additionally, it allows considering the phenomenon of shear thickening and shear thinning. However, it has a weak point, which is the experimental verification of its parameters (El Wahed and Balkhoyor, 2018). Another model that makes it possible to consider the same effects as the Herschel–Bulkley model is the Casson model (Carlson et al, 2001; Spencer et al, 1997), which was originally used to describe the rheological properties of blood.…”

Section: The Mathematical Modeling Of Magnetorheological Fluidmentioning

confidence: 99%

Magnetorheological fluids: A concise review of composition, physicochemical properties, and models

Osial

Pręgowska

Warczak

et al. 2023

Journal of Intelligent Material Systems and Structures

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Magnetorheological fluids (MRFs) are classified as intelligent materials whose rheological and mechanical properties can be modified by interaction with an external magnetic field. These unique features allow for a controlled change of their viscosity, which is applied in technology to build adaptive devices and effectively suppress vibrations in various mechanical systems. In this paper, we overview and discuss our previous results regarding advances and physicochemical MRF properties in the context of broader literature. We concentrated on such properties as flow, yield strength, and viscoelastic behavior under shearing flows. We briefly discussed continuum and discrete MRFs modeling. Since the magnetic core is mainly based on iron or its compounds, depending on its chemical composition, morphology, stabilizing agents, and the liquid medium’s viscosity, its rheological and micromechanical properties can be moderated. To predict the behavior of such a fluid, it is necessary to propose and implement an appropriate model. Simple models like Bingham can consider the quasi-static and dynamic behavior of the MRFs, while discrete models are applied to the development and implementation of the MRF control algorithms. Thus, analytical and numerical simulation compromise the accuracy, quantity of considered phenomena, and computational cost.

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“…They offer the advantages of compliance, safety, and adaptability to various environmental conditions, overcoming the limitations associated with traditional elastic components and flexible pneumatic materials, which often suffer from single working mode, limited controllability, and lack of miniaturisation. This technology is particularly well-suited for the rehabilitation of mechanical joints in the upper extremities [9][10][11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Design and feasibility analysis of magnetorheological flexible joint for upper limb rehabilitation

Li,

Yang,

Zhang

et al. 2024

Smart Mater. Struct.

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Traditional upper limb rehabilitation robots can only complete rehabilitation training according a predetermined trajectory, and its safety system is unreliable, the movement status of the affected limb cannot be adjusted or trained according to the expected torque of the human body. This study presents a flexible safety system for the rehabilitation of joints based on magnetorheological (MR) fluid. First of all, the MR dampers inverter has the advantages of large torque, fast response, controllable flexibility, and safety assurance. The range of motion tracks can be adjusted through the four-lever hinge mechanism, and the required driving force is provided by the motor actuator, and MR damper provides flexibility and variable damping characteristics for the output torque. The system adopts the force/position impedance safety control method, under the action of the internal position closed-loop controller, the MR upper limb rehabilitation flexible joint drives the affected limb to track to the safe position and carries out simulation to verify the accuracy of the system motion torque and position. The safe rehabilitation effect of the upper limb rehabilitation system under the three working conditions (Step, Incremental and Equation) of the interaction moment of the affected limb has been extensively studied. The simulation and experiment results show that the MR damper can control the upper limb rehabilitation system to achieve the desired effect under the condition of increasing and changing the interactive force of the patient, and the safety design of the upper limb rehabilitation robot based on MR is verified.

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The performance of a smart ball-and-socket actuator applied to upper limb rehabilitation

Cited by 9 publications

References 36 publications

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

Magnetorheological fluids: A concise review of composition, physicochemical properties, and models

Design and feasibility analysis of magnetorheological flexible joint for upper limb rehabilitation

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