Nnew Ew Arun Report - Copy

8/11/2019 Nnew Ew Arun Report - Copy

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1

CHAPTER-1

INTRODUCTION

1.1 NEUROREHABILITATION ROBOT

Neurorehabilitation is a complex medical process which aims to aid recovery from a

nervous systeminjury, and to minimize and/or compensate for any functional alterations

resulting from it. Among many types of neurorehabilitation robots, there is a recent trend of

highlighting exoseleton robots because of the following advantages of over !nd "!ffector

#!!$ type robots. %wing to the close alignment of anatomical axes of the exoseleton robot,

all the human arm joints angles and tor&ues can be directly measured and individually

controlled and also computing the joint tor&ues. 'he relation between the joint angle and

tor&ue #i.e. the impedance or stiffness$ can be directly computed. (sing other type robots,

one cannot obtain elbow, wrist angles, tor&ues and impedance simultaneously. 'he )ange of

*otion #)%*$ with exoseleton robots might be larger than that with !! type robots.

+iagnosis, physical therapy and outcome evaluation are important and essential steps

of rehabilitation and are thus preferred to be integrated for effective treatment of complex

neurological impairments. %n the other hand, passive stretching reduce the joint/muscle

stiffness and to increase the muscle strength, and active movement training to recover the

motor functions. 'he existing robots have been used to evaluate the impairments post stroe

and the therapy on a single joint. or clinicians, it is infeasible to diagnose the changes in the

many +%s and joints simultaneously and &uantitatively. 'hus to aid clinicians in planning

therapy by providing *-*+ diagnosis of passive/active impairments, a rehabilitation robot

with comprehensive measurements of relevant *-*+ variables is used.
http://en.wikipedia.org/wiki/Nervous_systemhttp://en.wikipedia.org/wiki/Nervous_system


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1.2 INTEGRATED CAPABILITIES

Fig 1.1!ssential teps of Neurorehabilitation

0uantitative, objective and comprehensive *-*+ preevaluation capabilities aiding

diagnosis for individual patients.

trenuous and safe passive stretching of deformed arm for loosening up

muscles/joints based on the robotaided diagnosis.

Active movement training after the passive stretching for improving motor control

ability.

0uantitative and comprehensive outcome evaluation at the level of individual joints,

multiple joints.

2re !valuation

2assive tretching

Active *ovement 'raining

%utcome !valuation


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3

CHAPTER-2

LITERATURE REVIEW

Robust I!"ti#i$%tio" o# &u'ti-(oi"t Hu)%" A*) I)+!%"$! B%s! O"

D,"%)i$s D!$o)+ositio" A &o!'i"g Stu,

*ultijoint/*ulti+egree of reedom #+%$ human arm impedance estimation is

important in many disciplines. 4owever, as the number of joints/+%s increases, it may

become intractable to identify the system reliably. A robust, unbiased and tractable estimation

method based on a systematic dynamics decomposition, which decomposes a *ulti5nput*ulti%utput #*5*%$ system into multiple ingle5nput *ulti%utput #5*%$ subsystems,

is developed. Accuracy and robustness of the new method were validated through a human

arm and a +% exoseleton robot simulation with various magnitudes of sensor resolution

and nonlinear friction. 'he approach can be similarly applied to identify more sophisticated

systems with more joints/+%s involved.

A Robot #o* P%ti!"t-Coo+!*%ti! A*) T/!*%+,

'his paper presents a new method of trajectory planning in rehabilitation robotics.

irst were measured in healthy subject the pic to place trajectories while haptic robot is in

zero impedance space. 6spline approximation is used to mathematically define the measured

paths. 'his trajectory path serves as a central line for the rounding haptic tunnel. 5n addition

to radial elastic and damping force an optional guidance force can be applied along the tunnel

to reach the place point. 'he 6spline control points were observed around the robot and arm

worspace. 'he trajectory path defined with 6splines is compared with minimum jer and

minimum tor&ue defined trajectories. inally are compared the pic to place movements with

and without tunnel use in healthy subject and in stroe hemiplegic patient .

Sto$/%sti$ Esti)%tio" o# Hu)%" A*) I)+!%"$! u"!* No"'i"!%* F*i$tio"

i" Robot (oi"ts A &o!' Stu,


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'he basic assumption of stochastic human arm impedance estimation methods is that

the human arm and robot behave linearly for small perturbations. 5n the present wor, we

have identified the degree of influence of nonlinear friction in robot joints to the stochastic

human arm impedance estimation. 5nternal *odel 6ased 5mpedance 8ontrol #5*658$ is then

proposed as a means to mae the estimation accurate by compensating for the nonlinear

friction. rom simulations with a nonlinear 9ugre friction model, it is observed that the

reliability and accuracy of the estimation are severely degraded with nonlinear friction:

below 4z, multiple and partial coherence functions are far less than unity; estimated

magnitudes and phases are severely deviated from that of a real human arm throughout the

fre&uency range of interest; and the accuracy is not enhanced with an increase of magnitude

of the force perturbations. 5n contrast, the combined use of stochastic estimation and 5*658provides with accurate estimation results even with large friction: the multiple coherence

functions are larger than


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@

Sto$/%sti$ Esti)%tio" o# A*) &!$/%"i$%' I)+!%"$! u*i"g Roboti$

St*o! R!/%bi'it%tio"

'his paper presents a stochastic method to estimate the multijoint mechanical

impedance of the human arm suitable for use in a clinical setting, e.g., with persons with

stroe undergoing robotic rehabilitation for a paralyzed arm. 5n this context, special

circumstances such as hyper tonicity and tissue atrophy due to disuse of the hemiplegic limb

must be considered. A lowimpedance robot was used to bring the upper limb of a stroe

patient to a test location, generate force perturbations, and measure the resulting motion.

*ethods were developed to compensate for input signal coupling at low fre&uencies

apparently due to humanmachine interaction dynamics. +ata was analyzed by spectral

procedures that mae no assumption about model structure. 'he method was validated by

measuring simple mechanical hardware and results from a patients hemiplegic arm are

presented.

Usi"g So$i%'', Assisti! Roboti$s to Aug)!"t &oto* T%s P!*#o*)%"$! i"

I"iiu%'s Post0St*o!

'his paper presents an application of a socially assistive robotics system to handsoffpost"stroe rehabilitation. >e validate the technical feasibility and efficiency of our system

in guiding, motivating, and administering an upper extremity rehabilitation tas. 'he robot,

which consists of a humanoid torso on a mobile base, monitors user performance on a wire

puzzle tas through a wearable inertial measurement unit and signals from the puzzle.

moothness of stroeaffected limb movement is used as the evaluation metric. ive adults of

mild to moderate functional ability in the chronic phase of stroe recovery interacted with

our system over three separate days.

CHAPTER-

S3STE& DESCRIPTION


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B

.1 &ETHODS USED IN NEUROREHABILITATION S3STE&

.1.1 I"t!''iA*) A" U++!* Li)b E4os!'!to" Robot Fo*

N!u*o*!/%bi'it%tio"

5t was developed for clinicians to aid diagnosis and outcome evaluation as well as to

*-*+ assist physical therapy based on the robot aided diagnosis. or preevaluation,

physical therapy, and outcome evaluation the subject #forearm, hand$ were strapped to the

corresponding braces of the intelliarm mechanical axes.

'he intelliarm can independently control the following +%s of human arm: elbow

lexion!xtension #l!x$ in horizontal plane, forearm 2ronation"upination #2ru$ and

wrist l!x. !ach +% is driven by a servomotor placed on the corresponding human arm

joint axis.

ince stroe survivors often develop pronation deformity of the forearm, it is

important to control and move the forearm in a proper range of pronation. or the controlled

movement of forearm a servo motor is used. 'he maximum output tor&ue and speed of

forearm driving system is 1


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'he *-*+ neuromechanical changes associated with the arm impairment post stroe

were characterized systematically by *-*+ stiffnessthe individual joints stiffness and

crosscoupled stiffness between joints/+%s "during controlled passive movements and loss

of individuation during the active movement.

Fig .1'ypical angleresistance tor&ue curve

5n the passive mode of operation to minimize reflex contributions and manifest the

passive mechanical changes of muscles/joints, the intelliarm passively moved one targeted

joint/+%s at a time #ig 3.1$ among the controlled +%s of the subjectDs arm throughout its

)%* with a controlled speed and cycles, until its joint/+% )',*res,reached its pre

specified 2ositive pea )'#2)'$,*p, or negative )' ,*n ,#path 1 and 3 in fig3.1$;and if

*res reached wither *p or *n, then the movement direction was reversed after few seconds.

'he 2)%* of the targeted joint/+% was determined from the measured *res and

angle , of the targeted joint/+%. 6ecause of the hysteresis loop consist of two paths as

observed in the angle)' as follows: positive end of the 2)%* # pprm$ and negative end of

the 2)%* # nprm$ in fig 3.1. or each joint/+%, individual joint/+% stiffness at pprm

and nprm #Ep and En respectively in fig 3.1$ was then derived by computing the slope of

the curve.

.1. St*!"uous %" S%#! &u'ti-5oi"t I"t!''ig!"t St*!t$/i"g


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'he movement and control of the elbow, wrist joints are closely coupled, because of

dozens of muscles and other soft tissues crossing the joints, and some crossing multiple

joints. 'hus for effective treatment of arms with excessive couplings, the elbow, wrist should

be treated together in a wellcoordinated manner.

rom the robot"aided multijoint preevaluation aiding diagnosis, the joints/+%s

with increased individual joint/+% stiffness, excessive crosscoupled stiffness, large 8's,

and the associated arm postures were identified. 'he intelliArm then stretched either multiple

joints or +% simultaneously or a joint/+% individually in a safe manner by using the 5

to reduce increased stiffness values of the joints/+%s involved. 'he fingers are not directly

stretched, because of the possible coupling between the fingers and other joints.

.1.6 &u'ti-5oi"t A$ti! &o!)!"t T*%i"i"g

After the controlled stretching reduced the excessive individual joint/+% stiffness

and cross coupled stiffness, the neural command might be able to control the muscles better

and also to move the arm better.

+uring the active movement training, the intelliarm was made bacdrivable under

the 5*658 #5nternal *odel 6ased 5mpedance 8ontrol$. ubjects were able to move their arm

freely with the intelliarm to match or trac targetDs displayed on monitor.

.1.7 &u'ti+'! 5oi"t Robot Ai! Out$o)! E%'u%tio"s

'he outcome evaluation was performed in terms of the biomechanical properties and

motor "control ability induced by the passive stretching and active movement training at the

multiple joints involved.

5n the passive mode, the elbow, wrist of the impaired arm of patients was moved by

the intelliarm throughout the )%*s individually or simultaneously under precise control.

5n the active mode, the patients were ased to move one of the impaired joints /+%s

at a time and to move the multiple joints of the whole "arm simultaneously for functional

movements. 'he neuromechanical changes in the impaired arm after treatments were

evaluated using the data collected from the *-*+ passive and active movements.


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.2 BLOC8 DIAGRA& OF NEUROREHABILITATION

E9OS8ELTON ROBOT S3STE&

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1* sent to the motordetermines position of the shaft,

and based on the duration of the pulse sent via the control wire; the rotorwill turn to the

desired position. 'he servo motor expects to see a pulse every < milliseconds #ms$ and the

length of the pulse will determine how far the motor turns. or example, a 1.@ms pulse will

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mae the motor turn to the =


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'he patient is entered into the machine; his /her hand is strapped to the

corresponding braces of the machine arm. 'hen the switch is turned on and it re&uires the

inputs for operation. 'he operator enters the stroe values #elbow l!x, wrist l!x and

forearm 2ru$ to the system through the eypad. 'he inputs are entered then machine

starts to run in the prescribed time period or the number of cycles. 'his is the passive

mode of operation, it reduces the joint /muscle stiffness. >hen the passive mode is

completed the operator switches the machine in to active mode. 5n this mode the patient

tries to move the arm in the prescribed direction. 5t improves the muscle strength of the

arm and this movement is sensed by the force /tor&ue sensor. 'his information is sent to

the controller, and processed it .'he operation is continuously monitored by the controller

in real time and if either of them is out of its range, the whole system is then shut down. A

stop switch is given both to the operator and the patient to authorize them to shut down the

system at any time.

.2. S!*o )oto*

ervo motors have been around for a long time and are utilized in many applications.

'hey are small in size but pac a big punch and are very energyefficient. 6ecause of these

features, they can be used to operate remotecontrolled or radiocontrolled toy cars, robots

and airplanes ervo motors are also used in industrial applications, robotics, inline

manufacturing,pharmaceuticsand food services.

'he servo circuitry is built right inside the motor unit and has a positionable shaft,

which usually is fitted with a gear#as shown below$. 'he motor is controlled with an electric

signal which determines the amount of movement of the shaft.
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Fig .ervomotor

ervos are controlled by sending an electrical pulse of variable width, or 2ulse >idth

*odulation #2>*$, through the control wire. 'here is a minimum pulse, a maximum pulse,

and a repetition rate. A servo motor can usually only turns =< degrees in either direction for a

total of 1F< degree movement. 'he motors neutral position is defined as the position where

the servo has the same amount of potential rotation in the both the clocwise or counter

clocwise direction. 'he 2>* sent to the motordetermines position of the shaft, and based

on the duration of the pulse sent via the control wire; the rotorwill turn to the desired

position. 'he servo motor expects to see a pulse every < milliseconds #ms$ and the length of

the pulse will determine how far the motor turns. or example, a 1.@ms pulse will mae the

motor turn to the =idth >ave orm
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>hen these servos are commanded to move, they will move to the position and hold

that position. 5f an external force pushes against the servo while the servo is holding a

position, the servo will resist from moving out of that position. 'he maximum amount of

force the servo can exert is called the tor&ue rating of the servo. ervos will not hold their

position forever though; the position pulse must be repeated to instruct the servo to stay in

position.

.2.6 Li:ui C*,st%' Dis+'%, ;LCDTo*:u! S!"so*

orcesensing resistors consist of a conductive polymer,which changes resistance in

a predictable manner following application of force to its surface. 'hey are normally suppliedas a polymer sheet or inthat can be applied by screen printing. 'he sensing film consists of

both electrically conducting and nonconducting particles suspended in matrix. 'he particles

are submicrometer sizes, and are formulated to reduce the temperature dependence, improve

mechanical properties and increase surface durability. Applying a force to the surface of the

sensing film causes particles to touch the conducting electrodes, changing the resistance of

the film. As with all resistive based sensors, forcesensing resistors re&uire a relatively simple

interface and can operate satisfactorily in moderately hostile environments. 8ompared to

other force sensors, the advantages of )s are their size #thicness typically less than


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1C

'or&ue is a twisting force, usually encountered on shafts, bars, pulleys, and similar

rotational devices. 5t is defined as the product of the force and the radius over which it acts. 5t

is expressed in units of weight, times, length, such as lb.ft. and Nm. Another way to

measure tor&ue is by way of twist angle measurement orphase shift measurement, whereby

the angle of twist resulting from applied tor&ue is measured by using two angular position

sensors and measuring the phase angle between them. inally, if the mechanical system

involves a right angle gearbox, then the axial reaction force experienced by the inputting

shaft/pinion can be related to the tor&ue experienced by the output shaft. 'he axial input

stress must first be calibrated against the output tor&ue. 'he input stress can be easily

measured via strain gage measurement of the input pinion bearing housing. 'he output tor&ue

is easily measured using a static tor&ue meter.

.2.? &o! S!'!$tio"

'here are two operating modes used in the system,

2assive stretching #passive mode$

Active training #active mode$

5n the passive mode of operation, machine arm drives the impairment arm in the

prescribed level of the input.

5n the active mode of operation, patient arm drives the machine arm .5n this mode the

patient arm tries to move #or apply forces to $the machine arm, and it is sensed by using some

force/tor&ue sensors .'his is the training mode of operation.

or mode selection a switch is used. 5t has two level ,high and low, high indicate in

the active mode and low indicate the passive mode. 'he default position of the switch is in

the passive mode. 'he operator changes the switch in passive mode or active mode.
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1F

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Fig .?6loc +iagram of the (ser 8ontrolled !xoseleton ystem

Fig .@28 with Application

..1 O+!*%tio" o# t/! Us!* Co"t*o''! E4os!'!to" S,st!)

'he bloc diagram of proposed system is shown in fig 3.@. 'he proposed system

consists of a voice control unit, Jbee units and )5+ that not present in the existing system.

As mentioned in the chapter 1, the present system needs an operator to provide the inputs to

the system and the user have no control in the system. 'hese two drawbacs are overcome in

the proposed system.

'o eliminate the need of an operator it provides a user id to every patient. >hen a

user login to the machine, a signal corresponding to this id is sent to the database of the

hospital or clinic through the Jbee unit. 'he database contains all the information about the

patients #preevaluated values$ .5f it is a valid id, and then informationDs corresponding to that

id is sent bac to the machine. 'hese values are loaded into the controller and machine starts

to run. 'he proposed system also provides a voice control to the user to set the number of

cycles of operation. 'he mode selection switch is used to select the passive mode or active

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e can see that A)* A has more degrees of rotation compared to A)*

6.

T%b'! 7.1 !xperimental )esult

'he evaluation capabilities aiding diagnosis can provide valuable information on

which joints and which +%s have significant changes and which joints lose independent


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REFERENCES

Q1R 4yungoon 2ar, 9i0un Shang, ang 4oon Eang, ?iNing >u and ?upeng )enO

+eveloping a *ulti-oint (pper 9imb !xoseleton )obot for +iagnosis, 'herapy, and

%utcome !valuation in Neurorehabilitation,O 5!!! 'ransactions %n Neural ystems

And )ehabilitation !ngineering, Gol. 1, No. 3, *ay , )oth !. -, Shang 9.0 and Gan)ey,

5ntelligent stretching for anle joints with contracture/spasticity,O 5!!! 'ransaction Neural ystem )ehabil. !ng., vol. 1


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Q=R Eang .4 and Shang 9.0, )obust identification of multijoint human arm impedance

based on dynamics decomposition: A *%+!95NP '(+?,O 5n 2roc.33rd

Annu.5nt.8onf.5!!! !ng.*ed.6iol.oc., 6oston, *A,

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