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ROBOTIC ARM WITH ARTIFICIAL MUSCLES IN REHABILITATION

Submitted by:

MIDHUN K DEV

S7 MECHANICAL

REG: 15134432

GUIDED BY:

JINU MATHEW

ASST. PROFESSOR

MECHANICAL DEPT

Monday, April 17, 2023

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NEED FOR ROBOTS IN REHABILITATION

Rehabilitation is time and personnel consuming process

Repetitive physical task and may be supported or replaced by robots.

Most devices used for rehabilitation are only suitably modified fitness machines,

Simplify the rehabilitation process that would increase the number of rehabilitated patients per unit of time

To achieve a higher quality of rehabilitation process while maintaining maximum safety of patients and minimize physical work of medical staff.

Monitor the activity of individual muscles, their level of involvement in the limbs’ movement and then we can modify the rehabilitation process.

3 Selection criteria for summary analysis includes following issues

Patients were diagnosed with cerebral vascular accident

Effects of robot-assisted therapy for the upper limb were investigated

The outcome was measured in terms of motor and/or functional recovery of the upper paretic limb

the study was a randomised clinical trial (RCT).

4 ADVANTAGES OF USING ROBOTS IN REHABILITATION

Ability to provide intensive repetitive training without over-burdening therapists

Improves motor impairment and strength Ability to provide more motivating training context, by

means of a computer gaming environment with quantitative feedback to motivate practice

Cost-effective advantage toward robot therapy may be expected in the future as cost of technology is expected to decrease.

5 The main functions of rehabilitation supported by robots are

Measurement and evaluation of the physical condition of the patient for objective diagnosis and selection of appropriate therapy,

Controlled manipulation with the treated motional segment of patient to improve and increase his motionalabilities

6 The basic system functions of the diagnostic and mechano-therapeutic systems

Controlling the movement of the joint , Collecting, processing and analysis of data Effectiveness of rehabilitation treatments, Reliability and safety, Motivation and comfort of the patient.

7 Architecture of the rehabilitation robotic system

SOURCE:http://pubs.sciepub.com/ajme/2/7/27

8 System model of rehabilitation robotic device

source: http://pubs.sciepub.com/ajme/2/7/27

9The layout of the entire rehabilitation robotic system (arm + carrier frame)

Source: http://pubs.sciepub.com/ajme/2/7/27

10 Pneumatic Artificial Muscles (PAM)

Aligned in an antagonistic relation Muscles are placed outside of the structure of the device - they

are placed on carrier frame. Transmission of motion between actuator’s outputs - PAM and

joints of robotic device is done by transmission elements - cables, which are held in Bowden cables and are connected to pulleys in joints of robot

11 Pneumatic artificial muscles in antagonistic connection

Source: http://ijr.sagepub.com/cgi/content/abstract/24/4/257Source: http://pubs.sciepub.com/ajme/2/7/27

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Demonstration of Pneumatic Artificial Muscles (PAM)

13 Kinematics of the rehabilitation robot

Modified kinematic model of the upper limb

Variant of robots arm design

14 Rehabilitation robot for upper limb

Exoskeleton system having seven degrees of freedom

15 USES OF ROBOTIC DEVICE FOR ASSISTED REHABILITATION OF THE UPPER LIMBS

Motor and coordination therapy,

Mental-cognitive and social therapy,

Physical therapy,

preventive therapy and control.

16 Rehabilitation process using robotic arm.

The upper limb of the patient is fixed in structure of the device

At the beginning, the upper limb is in the starting position - step 1.

Then, robot starts slowly to bend the upper limb at the elbow joint to reach desired value of angle - steps 2, 3 and 4.

After it reaches the ending position, it is moving slowly to starting position

Source:www.sciencedirect.com

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Cable-Driven Arm Exoskeleton (CAREX) for Neural Rehabilitation

18 HOME AND EXTREME POSITIONS

(a)"home" position of arm, (b) near maximum shoulder abduction, (c) near maximum shoulder flexion, (d) near maximum shoulder medial

rotation

Source: http://drum.lib.umd.edu/bitstream/1903/4236/1/umi-umd-4064.pdf

19 Design of control system

Sensor system: Data about the internal state of the robot. Information about patient state or about the way how

he interacts with device The most important variable that is necessary to

monitor is the load that is applied on patient during exercise.

Controller They may be embedded computers or handheld

devices, personal computers but also industrial PCs and PLCs.

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Actuating member: Pneumatic muscles are significantly different from the

drives commonly used in robotic devices The actuating members used are mainly solenoid

valves Their job in control is to set desired pressure in

muscles, which subsequently affect position of robots arm

Personal computer that interacts with embedded low-level control system of the device, trough some input output equipment.

21 Sensor and Safety System

Encoders Force Sensors User Interface Torque Limiter Activation Emergency Stop

22 Wearable sensors in rehabilitation

Used to monitor activity of user (walking, lying, etc.).

Wearable device should be worn by user without compromising comfort or conducting any usual daily activity.

Implemented to increase user’s safety or to provide feedback during training process.

Using wireless communication which enables higher level of patient’s mobility

23 Compared to industrial robots, rehabilitationrobot must have the following characteristics

Kinematics, which allows him to copy human motions

Ergonomic design, allowing comfortable contact with the patient

Increased demands for safety and compliance with the required parameters of motion

24 CONCLUSION The use of robotic devices in rehabilitation process

would increase number of rehabilitated patients per a period of time.

The architecture of the robot-assisted rehabilitation of the upper limb is demonstrated.

Our design of rehabilitation robotic device is based on the principle of exoskeleton. Using an exoskeleton, we can achieve bigger range of motions.

In our approach, pneumatic artificial muscles, which are in antagonistic connection are used as actuators.

25 REFERENCE Boris Jobbagy1, Dusan SimsiK, Jiri Marek, Jan Karchnak, Daniela Onofrejova;

“Robotic Exoskeleton for Rehabilitation of the UpperLimb”, American Journal of Mechanical Engineering, 2014, Vol. 2, No. 7, 299-302

Boris Jobbagy, Dusan Simsík, Jan KarchEak, Daniela Onofrejova; “Robotic arm with artificial muscles in rehabilitation

Modelling of Mechanical and Mechatronic Systems MMaMS 2014

B. Tondu, S. Ippolito, J. Guiochet; ‘’A Seven-degrees-offreedom Robot-armDriven by Pneumatic Artificial Muscles for Humanoid Robots” The International Journal of Robotics Research 2005; 24; 257

Evangelos Papadopoulos, Georgios Patsianis, “Design of an Exoskeleton Mechanism for the Shoulder Joint” 12th IFToMM World Congress, Besançon (France), June18-21, 2007

Professor David L. Akin; “Mechanical Design Of A Robotic Arm Exoskeleton For Shoulder Rehabilitation” Michael Scott Liszka, Master of Science, 2006

26 THANK YOU