Medical Robotics / Bio-Robotics
Elaheh Kafashi; Mohammad Ali Ahmadi Pajouh; Firooz Bakhtiari Nejad
Volume 14, Issue 4 , February 2021, , Pages 277-290
Abstract
Due to the high number of patients with cerebrovascular disease and stroke, which results in paralysis of organs on one side of the body, including the hand, as well as limitations in traditional rehabilitation methods, it is necessary to build devices to help these people. In this study, initially, ...
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Due to the high number of patients with cerebrovascular disease and stroke, which results in paralysis of organs on one side of the body, including the hand, as well as limitations in traditional rehabilitation methods, it is necessary to build devices to help these people. In this study, initially, given the challenges involved in designing an exoskeleton, the initial design was a mechanism for using it as a continuous passive motion to rehabilitate the fingers. This mechanism is tendon-based and covers both the flexion and extension of the fingers. For this purpose, two active and passive actuators have been used in the exoskeleton, respectively, to flex and extend the fingers. The distinctive feature of this design is its lightness, low volume, adjustability for different hands, compatibility, and comfort for the patient. Also, the kinematics and dynamics relationships modeled on the Lagrange method. The exoskeleton movement simulated in interaction with the finger with MATLAB sim-mechanics software. Finally, using simulation and modeling results, the final design was performed by considering the force of 40 N along the tendon, the exoskeleton made for the index finger. Also, the results of analytical modeling and simulation compared; the error rate of modeling obtained. In the worst case, this value was 15% for the first and second finger joints and 20% for the third joint.
Medical Robotics / Bio-Robotics
Mahya Salem; Saeed Ebrahimi; Mehdi Bamdad
Volume 11, Issue 2 , June 2017, , Pages 111-125
Abstract
In this study, a portable upperlimb exoskeleton is designed for the purpose of rehabilitation and helping the disabled people to do their daily activities. This exoskeleton has two active and one passive degrees of freedom for the shoulder joint. In this system, the idea of cable transmossiom mechanism ...
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In this study, a portable upperlimb exoskeleton is designed for the purpose of rehabilitation and helping the disabled people to do their daily activities. This exoskeleton has two active and one passive degrees of freedom for the shoulder joint. In this system, the idea of cable transmossiom mechanism and guidance pulley with the ability to change the force direction is used. The two active DOFs of the shoulder joint is achived only by pulling one cable for each axis based on the novel design of this mechanism. Each axis of the shoulder is driven independently which implies that a single axis can be installed on the arm. This exoskeleton does not impose any limitation on the vertical motion of the scapula. In addition, it is inexpensive, lightweight and can easily be used. In this paper, after introducing the exoskeleton system, the required motor torques for generating a prescribed task are obtained. In the next step, the kinematic and dynamic equations of this system are derived. By simulating the exoskeleton in CATIA and MATLAB softwares, and presenting the results, the performance of the exoskeleton is evaluated. The results show that this novel exoskeleton system posses an excellent capacity to perform the rehabilitation excersises for shoulder joint.
