N<i>e</i>XOS – the design, development and evaluation of a rehabilitation system for the lower limbs

Recent years have seen the development of a number of automated and semi-automated systems to support for physiotherapy and rehabilitation. These deploy a range of technologies from highly complex purpose built systems to approaches based around the use of industrial robots operating either individually or in combination for applications ranging from stroke to mobility enhancement. The NeXOS project set out to investigate an approach to the rehabilitation of the lower limbs in a way which brought together expertise in engineering design and mechatronics with specilists in rehabilitation and physiotherapy. The resulting system has resulted in a prototype of a system which is capable in operating in a number of modes from fully independent to providing direct support to a physiotherapist during manipulation of the limb. Designed around a low cost approach for an implementation ultimately capable of use in a patients home using web-baased strategies for communication with their support team, the prototype NeXOS system has validated the adoption of an integrated approach to its development. The paper considers this design and development process and provides the results from the initial tests with physiotherapists to establish the operational basis for clinical implementation

Robotics for rehabilitation of hand movement in stroke survivors

This article aims to give an overall review of research status in hand rehabilitation robotic technology, evaluating a number of devices. The main scope is to explore the current state of art to help and support designers and clinicians make better choices among varied devices and components. The review also focuses on both mechanical design, usability and training paradigms since these parts are interconnected for an effective hand recovery. In order to study the rehabilitation robotic technology status, the devices have been divided in two categories: end-effector robots and exoskeleton devices. The end-effector robots are more flexible than exoskeleton devices in fitting the different size of hands, reducing the setup time and increasing the usability for new patients. They suffer from the control of distal joints and haptic aspects of object manipulation. In this way, exoskeleton devices may represent a new opportunity. Nevertheless their design is complex and a deep investigation of hand biomechanics and physical human–robot interaction is required. The main hand exoskeletons have been developed in the last decade and the results are promising demonstrated by the growth of the commercialized devices. Finally, a discussion on the complexity to define which design is better and more effective than the other one is summarized for future investigations

Movement control of active/passive exercisers

The anatomical structure and biomechanics of the upper limb are presented in the first part of the paper. Several diseases and injuries specific to upper limb that conduct to a rehabilitation treatment are emphasized. The physical therapy promotes motion as a basic element of rehabilitation. This kind of rehabilitation therapies are based on movement and/or forces exercises usually performed under the supervision of a professional, frequently using various exercisers. Two different rehabilitation systems are described. The first one is an electrical actuated, wearable wrist exerciser. Its role is regaining the wrist joint’s functions, enhance strength of muscles and stability, and improve the firmness and flexibleness of the muscles and ligaments in safe operation during the performed exercises. The second one permits a large variety of active or passive exercises, aiming the rehabilitation of the shoulder, elbow and wrists articulations as well as regaining the movement capacity and patient’s motor skills. It includes a stationary one degree of freedom mechanism, pneumatically actuated. Aspects concerning the design, modelling, simulation and interfacing of both systems are given

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

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The Research on Soft Pneumatic Actuators in Italy: Design Solutions and Applications

Interest in soft actuators has increased enormously in the last 10 years. Thanks to their compliance and flexibility, they are suitable to be employed to actuate devices that must safely interact with humans or delicate objects or to actuate bio-inspired robots able to move in hostile environments. This paper reviews the research on soft pneumatic actuators conducted in Italy, focusing on mechanical design, analytical modeling, and possible application. A classification based on the geometry is proposed, since a wide set of architectures and manufacturing solutions are available. This aspect is confirmed by the extent of scenarios in which researchers take advantage of such systems’ improved flexibility and functionality. Several applications regarding bio-robotics, bioengineering, wearable devices, and more are presented and discussed

Gait Training using Pneumatically Actuated Robot System

Powered exoskeleton device for gait rehabilitation has been designed and realized, together with proper control architecture. Its DOFs allow free leg motion, while the patient walks on a treadmill with its weight, completely or partially supported by the suspension system. The use of pneumatic actuators for actuation of this rehabilitation system is reasonable, because they offer high force output, good backdrivability, and good position and force control, at a relatively low cost. The effectiveness of the developed rehabilitation system and proposed control architecture was experimentally tested. During the experiments, the movement was natural and smooth while the limb moves along the target trajectory