Non-linear actuators and simulation tools for rehabilitation devices

Mención Internacional en el título de doctorRehabilitation robotics is a field of research that investigates the applications of robotics in motor function therapy for recovering the motor control and motor capability. In general, this type of rehabilitation has been found effective in therapy for persons suffering motor disorders, especially due to stroke or spinal cord injuries. This type of devices generally are well tolerated by the patients also being a motivation in rehabilitation therapy. In the last years the rehabilitation robotics has become more popular, capturing the attention at various research centers. They focused on the development more effective devices in rehabilitation therapy, with a higher acceptance factor of patients tacking into account: the financial cost, weight and comfort of the device. Among the rehabilitation devices, an important category is represented by the rehabilitation exoskeletons, which in addition to the human skeletons help to protect and support the external human body. This became more popular between the rehabilitation devices due to the easily adapting with the dynamics of human body, possibility to use them such as wearable devices and low weight and dimensions which permit easy transportation. Nowadays, in the development of any robotic device the simulation tools play an important role due to their capacity to analyse the expected performance of the system designed prior to manufacture. In the development of the rehabilitation devices, the biomechanical software which is capable to simulate the behaviour interaction between the human body and the robotics devices, play an important role. This helps to choose suitable actuators for the rehabilitation device, to evaluate possible mechanical designs, and to analyse the necessary controls algorithms before being tested in real systems. This thesis presents a research proposing an alternative solution for the current systems of actuation on the exoskeletons for robotic rehabilitation. The proposed solution, has a direct impact, improving issues like device weight, noise, fabrication costs, size an patient comfort. In order to reach the desired results, a biomechanical software based on Biomechanics of Bodies (BoB) simulator where the behaviour of the human body and the rehabilitation device with his actuators can be analysed, was developed. In the context of the main objective of this research, a series of actuators have been analysed, including solutions between the non-linear actuation systems. Between these systems, two solutions have been analysed in detail: ultrasonic motors and Shape Memory Alloy material. Due to the force - weight characteristics of each device (in simulation with the human body), the Shape Memory Alloy material was chosen as principal actuator candidate for rehabilitation devices. The proposed control algorithm for the actuators based on Shape Memory Alloy, was tested over various configurations of actuators design and analysed in terms of energy eficiency, cooling deformation and movement. For the bioinspirated movements, such as the muscular group's biceps-triceps, a control algorithm capable to control two Shape Memory Alloy based actuators in antagonistic movement, has been developed. A segmented exoskeleton based on Shape Memory Alloy actuators for the upper limb evaluation and rehabilitation therapy was proposed to demosntrate the eligibility of the actuation system. This is divided in individual rehabilitation devices for the shoulder, elbow and wrist. The results of this research was tested and validated in the real elbow exoskeleton with two degrees of freedom developed during this thesis.Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y AutomáticaPresidente: Eduardo Rocón de Lima.- Secretario: Concepción Alicia Monje Micharet.- Vocal: Martin Stoele

A Profile Outline of Higher Education E-Tutoring Programs for the Digital-Native Student – Literature Review

AbstractIn today's digital literacy society, education is facing challenges that emphasize the need to reconsider the traditional paper-pencil methods of instruction. Thus, e-tutoring programs have the potential to enhance students’ academic achievement through counselling and learning-supporting activities. The present paper examines the results of the literature research (i.e. systematic review) related to e-tutoring in higher education, aiming to outline a profile for the higher education e-tutoring programs. Also, we aim to identify the Service-Learning related features of the e-tutoring programs found in the literature. The purpose of this study is to aid instructors designing friendly and more effective e-tutoring programs, well-suited for the digital-native student

The Impact of Service-Learning on Improving Students’ Teacher Training: Testing the Efficiency of a Tutoring Program in Increasing Future Teachers’ Civic Attitudes, Skills and Self-Efficacy

AbstractService-Learning is becoming a powerful educational tool that helps students emerge from the theoretical world to the world of practice by linking community-service with academic content through learning objectives. This paper investigates the impact Service-Learning on improving students’ teacher training by testing the efficiency of an online tutoring Service-Learning program (i.e. E-S-L) and the functionality of the educational platform hosting the program, entitled PedTut. The present paper also serves as a contribution to the discussion of integrating educational platforms in the service process by limiting time and space boundaries and making it accessible for students to put their knowledge into practice for the benefit of the community

Сопротивление и твердость металлических винтовых спиральных пружин Ø 31 мм, предназначенных для подвесных тележек Y25LSDI, установленных на товарных вагонах

On the strength and reliability of Ø 31 mm metallic helical springs, used for Y25LSDI bogie suspension mounted at freight cars

Two-stage shape memory alloy identification based on the Hammerstein - Wiener model

from the two stages was obtained for a specific shape memory alloy wire and for specific environmental conditions. This data was used in the modeling process. The final model consists of a combination of the models from the two stages, which represent the behavior of the shape memory alloy actuator where the input signal is the pulse-width modulation signal and the output signal are the position of the actuator. Our results indicate that our model has a very similar response to the behavior of the real actuator. This model can be used to tune different control algorithms, simulate the entry system before manufacture and test on real devices.The research leading to these results has received funding from the Exoesqueleto para Diagnostico y Asistencia en Tareas de Manipulación (DPI2016-75346-R) Spanish research project and from RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by Programas de Actividades I + D en la Comunidad de Madrid and cofunded by Structural Funds of the EU

Flexible shape-memory alloy-based actuator: Mechanical design optimization according to application

This article belongs to the Special Issue Actuators Based on Shape Memory Alloys.New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wide variety of applications. This paper presents the design, tests (with the control description) and analysis of various configurations of actuators based on SMA wires: flexible SMA actuators, different mechanical design to multiply the displacement and different configurations for actuators with multiple SMA wires. The performance of the actuators has been analyzed using wires of different activation temperatures. The influence of the Bowden sheath of the flexible actuator has been tested, as has the thermal behavior of actuators with several wires. This work has allowed determination of the most effective configuration for the development of a flexible actuator based on SMA, from the point of view of dimensions, efficiency, and work frequency. This type of actuator has been applied in the development of soft robots and light robotic exoskeletons.The research leading to these results has received funding from the Exoesqueleto para Diagnostico y Asistencia en Tareas de Manipulación (DPI2016-75346-R) Spanish research project and from RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by ¿Programas de Actividades I+D en la Comunidad de Madrid¿ and cofunded by Structural Funds of the EU

Tophaceous Gout – When the Skin Comes First

Gout represents a metabolic disorder with systemic echo, in which needle-like crystals of monosodium urate are deposited in various tissular structures. Crystals accumulation in the connective tissue (tophi) represents the late, chronic stage of this disease, usually emerging after an average of 10 years after disease onset. Herein we report three cases of patients aged 70, 33, and 53 who presented with painful subcutaneous nodules located on various body areas. All of them had hyperuricemia. Several conditions had to be investigated in order to establish the etiology of uric acid metabolism alterations. Laboratory and pathology findings established the diagnosis of gout, with tophi as the first symptom of the disease. Following patient education, diet and lifestyle changes, and medication, the outcome in all patients was favorable, with alleviation of the symptoms. Tophaceous gout as a first presentation of this disease is currently uncommon, but dermatologist should be aware of this rare finding for proper management of such cases and to prevent the resultant significant functional and quality of life impairment if not recognized early

SMA based elbow exoskeleton for rehabilitation therapy and patient evaluation

A large number of musculoskeletal and neurological disorders can affect the upper limb limiting the subject's ability to perform activities of daily living. In recent years, rehabilitation therapies based on robotics have been proposed as complement to the work of therapists. This paper introduces a prototype of exoskeleton for the evaluation and rehabilitation therapy of the elbow joint in flexion extension and pronation-supination. The main novelty is the use of bioinspired actuators based on shape memory alloys (for the first time) in an upper limb rehabilitation exoskeleton. Because of this, the device presents a light weight, less than 1 kg, and noiseless operation, both characteristics are very beneficial for rehabilitation therapies. In addition, the prototype has been designed with low-cost electronics and materials, and the result is a wearable, comfortable, and cheap rehabilitation exoskeleton for the elbow joint. The exoskeleton can generate the joint torque (active mode) or it can be used as a passive tool. (The patient performs therapy by itself, carrying the device while it collects relevant movement data for evaluation.) The simulations and experimental tests validate the solution in the first phases of rehabilitation therapies when slow and repetitive movements are required.This work was supported in part by the Exoesqueleto para Diagnostico y Asistencia en Tareas de Manipulacion through the Spanish Research Project under Grant DPI2016-75346-R, and in part by the RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub ("Robotica aplicada a la mejora de la calidad de vida de los ciudadanos. fase IV''), funded by the "Programas de Actividades I+D en la Comunidad de Madrid,'' and co-funded by the Structural Funds of the EU, under Grant S2018/NMT-4331

New design of a soft robotics wearable elbow exoskeleton based on shape memory alloy wire actuators

The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis.The research leading to these results has received funding from the RoboHealth (DPI2013-47944-C4-3-R) Spanish research project and from the RoboCity2030-II-CM (Comunidad de Madrid) project

Shoulder exoskeleton for rehabilitation actuated with shape memory alloy

Proceedings of RoboCity16: Robots for citizens: Open Conference on Future Trends in Robotics, May 2016This paper presen ts the preliminary design of a rehabilitation exoskele ton for the shoulder joint with three degrees of freedom (DOF), actuated with Shape Memory Alloy (SMA) based actuators. Due to the actuation system, the proposed exoskeleton presents a light weight , low noise and everything in a simple design structure. The number of actuators and the preliminary designed was calculated after a biomechanical simulation of the human body with a specific cat egory of patients.The research leading to these results has received funding from the RoboHealth (DPI2013-47944-C4-3-R) spanish research project and the from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU