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Kinematic characterization and validation of an upper limb rehabilitation device (CROSBI ID 703879)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Bazina, Tomislav ; Zelenika, Saša ; Kamenar, Ervin ; Škifić, Ana ; Schnurrer-Luke-Vrbanić, Tea Kinematic characterization and validation of an upper limb rehabilitation device // Proceedings of the 21st International Conference of the European Society for Precision Engineering and Nanotechnology / Leach, R. K. ; Nisbet, C. Philips, D. (ur.). European Society for Precision Engineering and Nanotechnology (EUSPEN), 2021. str. 205-208

Podaci o odgovornosti

Bazina, Tomislav ; Zelenika, Saša ; Kamenar, Ervin ; Škifić, Ana ; Schnurrer-Luke-Vrbanić, Tea

engleski

Kinematic characterization and validation of an upper limb rehabilitation device

Rehabilitating patients with upper limb poststroke paresis is a difficult challenge for both therapists and patients. In fact, to be as effective as possible and enable long-term restoration of arm’s motoric function, therapy must be introduced early and combined with frequent rehabilitation sessions. Active rehabilitation devices are establishing themselves as a likely solution, as they not only provide highly repetitive movements enabling to reinforce the connections between the visual and the motion sensory systems, but also allow alleviating the workload of physiotherapists. The conceived design configuration of an upper limb rehabilitation device, comprising 14 degrees of freedom, of which 8 are active, is thoroughly analysed in this work. The ranges of motion are validated against human arm movements using functional model representations. The sensors and their approximate positioning are considered as well. An in-depth analysis and characterization of the kinematic performances of the device is performed by using the Denavit-Hartenberg parameters. The simplified model of the rehabilitation device, and the resulting kinematic tree, are then implemented in the robotic operating system, enabling the simulation of its behaviour. The compatibility of the device for the rehabilitation of daily life activities is also validated by using a workspace analysis based on the functional representation of the arm.

upper limb rehabilitation ; mechatronics device ; kinematic analysis ; workspace validation ; ROS implementation

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Podaci o prilogu

205-208.

2021.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the 21st International Conference of the European Society for Precision Engineering and Nanotechnology

Leach, R. K. ; Nisbet, C. Philips, D.

European Society for Precision Engineering and Nanotechnology (EUSPEN)

978-0-9957751-9-0

Podaci o skupu

21st International Conference of the European Society for Precision Engineering and Nanotechnology

ostalo

07.06.2021-11.06.2021

online

Povezanost rada

Interdisciplinarne tehničke znanosti, Kliničke medicinske znanosti, Strojarstvo, Temeljne tehničke znanosti