Design of a passive hydraulic simulator for abnormal muscle behavior replication

Spasticity and rigidity are two abnormal hypertonic muscle behaviors commonly observed in passive joint flexion and extension evaluation. Clinical evaluation for spasticity and rigidity is done through in-person assessment using qualitative scales. Due to the subjective nature of this evaluation method, diagnostic results produced from these clinical assessments can have poor reliability and inconsistency. Incorrect diagnosis and treatment often result in worsening of the abnormal muscle behaviors, reducing the quality of life and leading to an increased cost of healthcare. Several programmable, robotic simulators had been developed to improve the accuracy of clinical evaluation by providing clinician practical training opportunities; however none of these training devices are commercially available due to technical and manufacturing limitations. For this reason, a novel, purely mechanical, hydraulic-based simulator design was proposed as an alternative approach to abnormal muscle behavior simulation. The original goal of the project presented in this thesis was to address both spasticity and rigidity in the elbow joint during flexion; however due to time constraints, the initial prototype can only mimic spasticity. The hydraulic-based simulator utilized a novel damper design using viscous fluid in combination with creative flow channel configurations to replicate different levels of spasticity behaviors depicted on a qualitative scale. The simulator was capable of generating a wide range of speed-dependent force feedbacks without need for any computational controls. Preliminary results obtained from evaluating the simulator suggested the possibility of using this novel design in replicating the speed-dependent characteristics of spasticity. The framework and method implemented in the current simulator prototype could be further developed and expanded to replicate spasticity or other types of abnormal behaviors, such as rigidity, in various human joints (not limiting the design to just the elbow joint)

磁性流体を用いたバックドライブ可能な油圧アクチュエータの開発

早大学位記番号:新7478早稲田大

A Design Methodology for Development of Clinically Compliant Upper Limb Spasticity Part-Task Trainer

芝浦工業大学201

Advanced Mobile Robotics: Volume 3

Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective

Modeling and Control of a Exoskeleton for Lower Limb Rehabilitation with two degrees of freedom

[EN] Exoskeletons are robots attached to the extremities of the human body focused on increasing their strength, speed and performance primarily. The applications are in the military, industry and medical. The exoskeleton can be used for the rehabilitation of limbs because of accident or illness that can cause little muscle activity or null. This article presents an exoskeleton of two degrees of freedom that is used to ankle and knee exercise rehabilitation. The design and manufacture of the exoskeleton is based on the instrumentation of a right lower limb orthoses. The exoskeleton contains sensors to estimate the force produced by a human and contains SEA actuators (Serial Elastics Actuators) that used to amplify the human force. Also contains sensors to estimate the position and angular velocity in joints. This paper presents in general: a study of the dynamic model of the exoskeleton and actuators coupled through the singular perturbation method, the design of a control based on the sum of forces generated by the human and the exoskeleton, and the design and manufacture of an experimental prototype. The simulation result shows that the sum of forces between the human and the exoskeleton is controlled to obtain a desired angular position of the joints (knee and ankle). Experimental results show that exist a human force amplification generated by the exoskeleton, providing a reduction in the patient's effort to remain standing and bending exercises. Then force amplification can be increased or decreased as needed in different workouts that will allow the user an evolutionary improvement to achieve a full rehabilitation.[ES] Los exoesqueletos mecánicos son robots acoplados a las extremidades del cuerpo humano enfocados en el incremento de su fuerza, velocidad y rendimiento principalmente. Las principales aplicaciones son en la milicia, en la industria y en la medicina. El exoesqueleto se puede utilizar para la rehabilitación de las extremidades cuando por causas de algún accidente o enfermedad se tiene una actividad muscular reducida o nula. En este artículo se presenta un exoesqueleto de dos grados de libertad para realizar ejercicios de rehabilitación para tobillo y rodilla. El diseño y fabricación del exoesqueleto está basado en la instrumentación de una ortesis del miembro inferior derecho. El Exoesqueleto utiliza sensores que estiman la fuerza producida por el humano y se encuentran incorporados en los actuadores de tipo SEA (Series Elastic Actuator) que se utilizan para amplificar la fuerza humana. Además mediante sensores se estima la posición y velocidad angular de las articulaciones, que se utilizan para controlar el movimiento de la pierna. En el artículo se presentan: un estudio del modelo dinámico del exoesqueleto y de los actuadores acoplados por medio del método de perturbaciones singulares, el diseño de un control basado en la suma de fuerzas generadas por el humano y el exoesqueleto, el diseño y fabricación del prototipo experimental y sus actuadores. Se realizaron simulaciones que muestran el buen desempeño del controlador propuesto. Los resultados experimentales muestran que existe una amplificación de la fuerza generada por el portador y amplificada por la mecánica del exoesqueleto, ofreciendo una disminución en el esfuerzo del usuario para mantenerse de pie y realizar ejercicios de flexión y extensión de las articulaciones. De manera que la amplificación de la fuerza puede aumentarse o disminuirse según se necesite, permitiendo al usuario una mejora evolutiva hasta llegar a la rehabilitación completa.López, R.; Aguilar, H.; Salazar, S.; Lozano, R.; Torres, JA. (2014). 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