A Planar Parallel Device for Neurorehabilitation

Robotics

Hermes Giberti¹  Alessio Prini²  Tito Dinon²  Matteo Malosio²  MatteoLavit Nicora²  Jawad Yamine³ 

[1] Dipartimento di Ingegneria Industriale e dell’Informazione, Università di Pavia, Via ferrata 5, 27100 Pavia, Italy;Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato, Consiglio Nazionale delle Ricerche, via G. Previati 1/E, 23900 Lecco, Italy;Politecnico di Milano, Via la Masa 1, 20156 Milano, Italy;

关键词: parallel kinematic architecture;    kinematic optimization;    rehabilitation robotics;    assist-as-needed control algorithms;   

DOI  :  10.3390/robotics9040104

来源: DOAJ

【 摘 要 】

The patient population needing physical rehabilitation in the upper extremity is constantly increasing. Robotic devices have the potential to address this problem, however most of the rehabilitation robots are technically advanced and mainly designed for clinical use. This paper presents the development of an affordable device for upper-limb neurorehabilitation designed for home use. The device is based on a 2-DOF five-bar parallel kinematic mechanism. The prototype has been designed so that it can be bound on one side of a table with a clamp. A kinematic optimization was performed on the length of the links of the manipulator in order to provide the optimum kinematic behaviour within the desired workspace. The mechanical structure was developed, and a 3D-printed prototype was assembled. The prototype embeds two single-point load cells to measure the force exchanged with the patient. Rehabilitation-specific control algorithms are described and tested. Finally, an experimental procedure is performed in order to validate the accuracy of the position measurements. The assessment confirms an acceptable level of performance with respect to the requirements of the application under analysis.

【 授权许可】

Unknown