Torque Control of a Rehabilitation Teaching Robot Using Magneto-Rheological Fluid Clutches

Abstract

A new robot that makes use of MR-fluid clutches for simulating torque is proposed to provide an appropriate device for training physical therapy students in knee-joint rehabilitation. The feeling of torque provided by the robot is expected to correspond to the torque performance obtained by physical therapy experts in a clinical setting. The torque required for knee-joint rehabilitation, which is a function of the rotational angle and the rotational angular velocity of a knee movement, is modeled using a mechanical system composed of typical spring-mass-damper elements. The robot consists of two MR-fluid clutches, two induction motors, and a feedback control system. In the torque experiments, output torque is controlled using the spring and damper coefficients separately. The values of these coefficients are determined experimentally. The experimental results show that the robot would be suitable for training physical therapy students to experience similar torque feelings as needed in a clinical situation.

More than surgical tools: a systematic review of robots as didactic tools for the education of professionals in health sciences

“…Each simulates wrist’s joint movements Physical therapists / physiotherapy Treatment: robotic rehabilitation Application centric Procedure: hemiparetic wrist of stroke patients’ rehabilitation Descriptive – (n = 1) Performance of the patient after 60 days of stroke recovery (Not evaluated over trainees) Force Feedback model applied to trainees based on learned movements from therapist over real patient, therapist over robot, and averaged over a multirobot system No (Swain, 2017 ) Human patient robotic simulator (HPS) (not described) Nurse students / Nursery Treatment: intervention in cardiopulmonary resuscitation (CPR) emergency Application centric Procedure: CPR Clarificatory—(n = 7) Divided into two groups: one received training in CPR with and without the robotic simulator. Mixed methods (questionnaires and discussion groups) to determine if subjects were more comfortable in clinical setting after unexpected event using a (HPS) Training CPR with a HPS robot that simulates cardiopulmonary failure Yes (Hakogi et al, 2005 ) Knee joint robot simulator Physical therapists / physiotherapy Treatment: knee joint rehabilitation Patient centric General: anatomy/ physiology Descriptive Compare robot quantitative dynamic torque with measured data during clinical rehabilitation treatment Not detailed No (Formosa et al, 2018 ) Actuated robotic platform to fit a synthetic colon. Simulates peristaltic wave speeds and pressures, and disturbances from patient movement Doctor / gastroenterologist Prevention – diagnosis: endoscopy—colonoscopy Patient centric General: anatomy/ physiology Descriptive Compare robot quantitative dynamic deformations and displacements with measured data in clinical settings Not detailed No …”

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

“…A 3 DOF exercise machine was developed, which can be used as a motion guide robot or a force display device in which ER actuators were incorporated to provide safety during upper-limb physiotherapy exercises (Furusho et al, 2002). A new robot, which consists of two MR fluid clutches, two induction motors and a feedback control system, was proposed for knee-joint rehabilitation (Hakogi et al, 2006). Another rehabilitation device was developed to provide a passive resistance during strength training of muscles (Dong et al, 2006), which employs a programmable axial MR fluid actuator that could apply a resistance as prescribed by a physical therapist.…”

Design and control of an upper limb rehabilitation support device for disabled people using a pneumatic cylinder

“…The device is expected to facilitate rehabilitation for patients and OTs. Some developed rehabilitation devices and robots are a rehabilitation robot ARMin II (Staubli et al , 2009), an exoskeleton system for elbow joint motion rehabilitation (Kiguchi et al , 2003), the KARES II rehabilitation robotic system (Bien et al , 2003), a rehabilitation robot using an artificial rubber muscle (Noritsugu et al , 1995), an active assist exercise with a robotic device (Kahn et al , 2006), a rehabilitation teaching robot using magnetorheological fluid clutches (Hakogi et al , 2005), wrist‐rehabilitation equipment using a pneumatic parallel manipulator (Takaiwa and Noritsugu, 2005), a rehabilitation system with a 3D exercise machine (Koyanagi et al , 2003), and the FRIEND II rehabilitation robot (Volosyak et al , 2005). However, most are large and complex mechanisms.…”