Naslov
Kinematic characterization and validation of an upper limb rehabilitation device

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

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
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), 2021, 205-208

ISBN
978-0-9957751-9-0

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

Mjesto i datum
Online, 07.06.2021. - 11.06.2021

Vrsta sudjelovanja
Plenarno

Vrsta recenzije
Međunarodna recenzija

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

Sažetak
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.

Izvorni jezik
Engleski

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

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