Underactuated Rehabilitation Robotics for Hand Function

Authors

  • Xuanren Zhu Shanghai University
  • Bin He Shanghai University

DOI:

https://doi.org/10.18196/jrc.25103

Keywords:

Rehabilitation robot, kinematics simulation, underactuated robotics

Abstract

Normal hand function plays an important role in daily life. At present, the incidence of hand dysfunction caused by diseases such as cerebral palsy or stroke is increasing year by year. For the rehabilitation of hand dysfunction, in addition to surgical treatment, effective rehabilitation exercise is also particularly important. It is also a necessary link in the efficient and intelligent development of rehabilitation medicine to develop robots that can effectively help patients with rehabilitation hand functions.In this paper, based on the analysis of the design principles and objectives of the rehabilitation robot with hand function, the kinematics model of the rehabilitation robot with hand function is constructed,based on top-down principle in the design of the machine, the design of the machine hand function rehabilitation robots design optimization process framework, and based on the kinematics model and the virtual prototype technology, build its skeleton model, and carries on the kinematics simulation analysis, the design is verified the correctness of the hand function rehabilitation robot kinematics model.

References

M. Li et al., "A soft robotic glove for hand rehabilitation training controlled by movements of the healthy hand," 2020 17th International Conference on Ubiquitous Robots (UR), Kyoto, Japan, 2020, pp. 62-67.

P. Jacqueline A, H. Alice, G. Whitney, W. Steven L, and B. Michael R, “Modulatory effects of motor state during paired associative stimulation on motor cortex excitability and motor skill learning.” Front. Hum. Neurosci., vol. 13, 2019.

S. W. James , and W. D. Byblow, “Disinhibition in the human motor cortex is enhanced by synchronous upper limb movements,” The J. Physiol., vol. 543, no. 1, pp. 307-316, 2004.

J. Lee, S. Kim, W. Park and J. Bae, "Design of a wearable hand exoskeleton system for evaluation of hand functions," 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jeju, 2017, pp. 578-579.

A. Nontapha and W. San-Um, "A versatile hand grip design for concise arm and hand rehabilitation robot for stroke patients," 2017 Third International Conference on Biosignals, Images and Instrumentation (ICBSII), Chennai, 2017, pp. 1-4.

J. Ma, R. Mo, M. Chen, L. Cheng and H. Qi, "Mirror-Training of a Cable- Driven Hand Rehabilitation Robot Based on Surface Electromyography (sEMG)," 2019 Tenth International Conference on Intelligent Control and Information Processing (ICICIP), Marrakesh, Morocco, 2019, pp. 309-315.

N. G. Kutner, R. Zhang, A. J. Butler, S. L. Wolf, and J. L.Alberts, “Quality-of-life change associated with robotic-assisted therapy to improve hand motor function in patients with subacute stroke: a randomized clinical trial,” Phys. Ther., vol. 90, no. 4, pp. 493–504, 2010.

Y. Ren, Y. -N. Wu, C. -Y. Yang, T. Xu, R. L. Harvey and L. -Q. Zhang, "Developing a Wearable Ankle Rehabilitation Robotic Device for in-Bed Acute Stroke Rehabilitation," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 25, no. 6, pp. 589-596, 2017.

A. Borboni, J. H. Villafane, C. Mullè, K. Valdes, R. Faglia, G. Taveggia, and S. Negrini, “Robot-assisted rehabilitation of hand paralysis after stroke reduces wrist edema and pain: a prospective clinical trial,” J. Manipulative Physiol. Ther., vol. 40, no. 1, 2016.

C. D. Takahashi, L. Der-yeghiaian, V. Le, R. R. Motiwala, and S. C. Cramer, “Robot-based hand motor therapy after stroke,” Brain, vol. 131, no. 2, pp. 425-437, 2008.

S. Umchid and P. Taraphongphan, "Design and development of a smart continuous passive motion device for knee rehabilitation," 2016 9th Biomedical Engineering International Conference (BMEiCON), Laung Prabang, 2016, pp. 1-5.

Slipman, and W. Curtis, “Rehabilitation medicine: principles and practice,” JAMA., vol. 271, no.4, pp.244, 1994.

M. Gandolfi, C. Geroin, A. Waldner, I. Maddalena, C. Tomelleri, “ Feasibility and safety of early lower limb robot-assisted training in sub-acute stroke patients: a pilot study,” Eur. J. Phy3. Rehabil. Med., vol. 53, no. 6, 2017.

J. Oliver, R. Toledo and E. Valderrama, "A learning approach based on robotics in Computer Science and Computer Engineering," IEEE EDUCON 2010 Conference, Madrid, 2010, pp. 1343-1347.

H. Wang and J. Gu, "Application of Deep Learning in Human-computer Interaction Design of Rehabilitation Equipment," 2019 2nd International Conference on Information Systems and Computer Aided Education (ICISCAE), Dalian, China, 2019, pp. 99-102.

A. Benzerrouk, L. Adouane, L. Lequievre and P. Martinet, "Navigation of multi-robot formation in unstructured environment using dynamical virtual structures," 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, 2010, pp. 5589-5594.

R. Michael, T. Bertram, and M. Iwasaki, “Modeling, observation, and control of hysteresis torsion in elastic robot joints,” Mechatronics, vol. 24, no. 5, pp. 407-415, 2014.

J. He, and F. Gao, “Type synthesis for bionic quadruped walking robots,” J. Bionic. Eng., vol. 12, no. 004, pp. 527-538, 2015.

X. Li, Y. H. Liu, and H. Y. Yu, “Iterative learning impedance control for rehabilitation robots driven by series elastic actuators.” Automatica, vol. 90, pp.1-7, 2018.

K. Shi, A. Song, Y. Li and C. Wu, "Cable-driven Wearable Upper Limb Rehabilitation Robot," 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2018, pp. 2434-2438.

P. Wattanasiri, P. Tangpornprasert and C. Virulsri, "Design of Multi-Grip Patterns Prosthetic Hand With Single Actuator," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 26, no. 6, pp. 1188-1198, June 2018.

B. Wang, A. McDaid, K. C. Aw and M. Biglari-Abhari, "Design and development of a skinny bidirectional soft glove for post-stroke hand rehabilitation," 2017 Intelligent Systems Conference (IntelliSys), London, 2017, pp. 979-987.

J. Zhang, H. Wang, J. Tang, H. Guo and J. Hong, "Modeling and design of a soft pneumatic finger for hand rehabilitation," 2015 IEEE International Conference on Information and Automation, Lijiang, 2015, pp. 2460-2465.

M. Ariyanto, J. D. Setiawan, R. Ismail, I. Haryanto, and D. R. Saksono, “Design and characterization of low-cost soft pneumatic bending actuator for hand rehabilitation,” 2018 5th International Conference on Information Technology, Computer, and Electrical Engineering, 2018.

Y. Jiang et al., "Fishbone-inspired soft robotic glove for hand rehabilitation with multi-degrees-of-freedom," 2018 IEEE International Conference on Soft Robotics (RoboSoft), Livorno, 2018, pp. 394-399.

H. Lipson, “Challenges and opportunities for design, simulation, and fabrication of soft robots,” Soft Robotics, vol. 1, pp. 21-27, 2014.

J. Arata, K. Ohmoto, R. Gassert, O. Lambercy, H. Fujimoto and I. Wada, "A new hand exoskeleton device for rehabilitation using a three-layered sliding spring mechanism," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, 2013, pp. 3902-3907.

M. Haghshenas-Jaryani, W. Carrigan, C. Nothnagle and M. B. J. Wijesundara, "Sensorized soft robotic glove for continuous passive motion therapy," 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, 2016, pp. 815-820.

P. Hahn, H. Krimmer, A. Hradetzky, and U. Lanz, “Quantitative analysis of the linkage between the interphalangeal joints of the index finger. An in vivo study,” J. Hand Surg. Br., vol. 20, no. 5, pp. 696-699, 1995.

Z. Xue, Q. Wu and F. Gao, "Design and Modeling of Omni-directional Bending Pneumatic Flexible Arm," 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore, 2018, pp. 835-839.

K. Gao, F. Yang, M. Zhou, Q. Pan and P. N. Suganthan, "Flexible Job-Shop Rescheduling for New Job Insertion by Using Discrete Jaya Algorithm," in IEEE Transactions on Cybernetics, vol. 49, no. 5, pp. 1944-1955, May 2019.

J. T. LI, S. Wang, J. Wang, R. Y. Zheng, Y. R. Zhang, and Z. Y. Chen, “Development of a hand exoskeleton system for index finger rehabilitation,” J. Mech. Eng., vol. 02, pp. 223-233, 2012.

Downloads

Published

2021-09-27

Issue

Vol. 2 No. 5 (2021): September

Section

Articles

License

Authors who publish with this journal agree to the following terms: 

  1. Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgment of the work's authorship and initial publication in this journal.
  2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgment of its initial publication in this journal.
  3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).

 

This journal is based on the work at https://journal.umy.ac.id/index.php/jrc under license from Creative Commons Attribution-ShareAlike 4.0 International License. You are free to:

  1. Share – copy and redistribute the material in any medium or format.
  2. Adapt – remix, transform, and build upon the material for any purpose, even comercially.

The licensor cannot revoke these freedoms as long as you follow the license terms, which include the following:

  1. Attribution. You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use.
  2. ShareAlike. If you remix, transform, or build upon the material, you must distribute your contributions under the same license as the original.
  3. No additional restrictions. You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.

 

• Creative Commons Attribution-ShareAlike (CC BY-SA)

Creative Commons License
JRC is licensed under an International License