Design of a 4-DOF grounded exoskeletal robot for shoulder and elbow rehabilitation

The number of cerebrovascular and neuromuscular diseases is increasing in parallel with the rising average age of the world’s population. Since the shoulder anatomy is complex, the number of rehabilitation robots for shoulder movements is limited. This paper presents the mechanical design, control, and testing of 4 degrees of freedom (DOF) grounded upper limb exoskeletal robot. It is capable of four different therapeutic exercises (passive, active assistive, isotonic, and isometric). During the mechanical design, the forces to be exposed to the robot were determined and after the design, the system was tested with strength analysis. Also, a low-cost electromyograph device was developed and integrated into the system to measure muscular activation for feedback and instantaneously muscle activation control for the physiotherapist during the therapy. The system can be used for rehabilitation on the shoulder and elbow.  A PID controller for position-controlled exercises was developed. The test results were presented in terms of simulation and the real system for passive exercise. According to the test results, the developed system can perform the passive exercise and can be used for other therapeutic exercises as well

Non-linear control law for articulated serial manipulators: Simulation augmented with hardware implementation

The performance of a robotic arm includes accuracy, repeatability and reliability to accomplish a task. These parameters, in turn, are function of associated control law. Multi-Degree Of Freedom (DOF) robotic arms, because of their inherent highly non-linear dynamics, demand sophisticated control laws. Trivial control strategies fail to cope with disturbances and uncertainties that are common in today's plants. This paper presents the design, simulation and physical implementation of a non-linear control technique Variable Structure Control (VSC) for a 6 DOF arm. Based on the derived dynamic model of the arm and designed control law, simulations have been conducted in MATLAB/Simulink. The controller parameters have been tuned for optimal response. Various desired trajectories characterize the tracking performance of the control law. The simulation results have been then validated by implementing the law on a customdeveloped novel AUTonomous Articulated Robotic Educational Platform (AUTAREP). Coupling effects between various joints of the robot have also been investigated. Results of this research find potential in industrial control of robotic manipulators to perform complex tasks

Two-link lower limb exoskeleton model control enhancement using computed torque

Robotic technology has recently been used to help stroke patients with gait and balance rehabilitation. Rehabilitation robots such as gait trainers are designed to assist patients in systematic, repetitive training sessions to speed up their recovery from injuries. Several control algorithms are commonly used on exoskeletons, such as proportional, integral and derivative (PID) as linear control. However, linear control has several disadvantages when applied to the exoskeleton, which has the problem of uncertainties such as load and stiffness variations of the patient’s lower limb. To improve the lower limb exoskeleton for the gait trainer, the computed torque controller (CTC) is introduced as a control approach in this study. When the dynamic properties of the system are only partially known, the computed torque controller is an essential nonlinear controller. A mathematical model forms the foundation of this controller. The suggested control approach’s effectiveness is evaluated using a model or scaled-down variation of the method. The performance of the suggested calculated torque control technique is then evaluated and contrasted with that of the PID controller. Because of this, the PID controller’s steady-state error in the downward direction can reach 5.6%, but the CTC can lower it to 2.125%

Robotic Rehabilitation System In Malaysia

The goal of this project entitled Robotic Rehabititation System in Malaysia is to examine the purpose of robotics to therapeutic procedures for achieving the finest possible motor and functional recovery for persons with impairments following various diseases such as amputations, life-threatening wounds, brain injury, pain management issues, orthopaedics, pulmonary, spinal cord injuries and strokes. Feasibility study and research concerning robotic rehabilitation system iue prepared for the development of robotic based rehabilitation system in Malaysia to be fulfilled. However, there are significant research challenges in developing and testing rehabilitation robots so that they meet the requirements of the patients. The technology must be capable of improving person's impaired limbs or part of the body. In addition, robots must be able to understand the complexity of human type of movements. Thus, non-robotic rehabilitation centre can be transformed to a robotic based rehabilitation centre by analysing the possibility of transforming the current practice of rehabilitation programs conducted via physiotherapist to an automated rehabilitation activity by means of robot follows with good evidence on how robots might enhance the delivery of robotic rehabilitation to people of all ages

Bernard Roth: The early days of the design division at Stanford, and the beginnings of research in robotics

© 2017 This paper comprises a review of Bernard Roth's technical contributions and contributions to his professional community. Particular attention is paid to his role in the establishment of the unique design program of the Department of Mechanical Engineering at Stanford University. Another theme is the creation of one of the very first research programs in digitally controlled robotics in the Stanford Artificial Intelligence Laboratory. No review of Roth's career would be complete without touching on the numerous fundamental contributions to research in linkages and robotics. At the same time it is not possible in a work on this type to examine every one of his publications and other contributions. We have endeavored to select the most important, but that is, of course, a personal judgment

Development of Virtual Reality Games for Motor Rehabilitation

Motor rehabilitation is a long term, labor intensive and patient-specific process that requires one-on-one care from skilled clinicians and physiotherapists. Virtual rehabilitation is an alternative rehabilitation technology that can provide intensive motor training with minimal supervision from physiotherapists. However, virtual rehabilitation exercises lack of realism and less connected with Activities of Daily Livings. In this paper, we present six Virtual Reality games that we developed for 5DT data glove, 1-DOF IntelliStretch robot and Xbox Kinect to improve the accessibility of motor rehabilitation

Medical robots with potential applications in participatory and opportunistic remote sensing: A review

Among numerous applications of medical robotics, this paper concentrates on the design, optimal use and maintenance of the related technologies in the context of healthcare, rehabilitation and assistive robotics, and provides a comprehensive review of the latest advancements in the foregoing field of science and technology, while extensively dealing with the possible applications of participatory and opportunistic mobile sensing in the aforementioned domains. The main motivation for the latter choice is the variety of such applications in the settings having partial contributions to functionalities such as artery, radiosurgery, neurosurgery and vascular intervention. From a broad perspective, the aforementioned applications can be realized via various strategies and devices benefiting from detachable drives, intelligent robots, human-centric sensing and computing, miniature and micro-robots. Throughout the paper tens of subjects, including sensor-fusion, kinematic, dynamic and 3D tissue models are discussed based on the existing literature on the state-of-the-art technologies. In addition, from a managerial perspective, topics such as safety monitoring, security, privacy and evolutionary optimization of the operational efficiency are reviewed