Naslov
Upper limb mechatronics rehabilitation device

Autori
Bazina, Tomislav ; Kamenar, Ervin ; Zelenika, Saša

Vrsta, podvrsta i kategorija rada
Sažeci sa skupova, sažetak, ostalo

Izvornik
Book of Abstracts - My First Conference 2020 - 4th Annual PhD Conference on Engineering and Technology / Dugonjić Jovančević, Sanja ; Franulović, Marina ; Vukelić, Goran ; Kirinčić, Mateo ; Liović, David ; Zlatić, Marin - Rijeka : Tehnički fakultet Sveučilišta u Rijeci, 2020, 7-7

ISBN
978-953-8246-18-0

Skup
4th edition of annual conference for doctoral students of engineering and technology „MY FIRST CONFERENCE“

Mjesto i datum
Rijeka, Hrvatska, 24.09.2020

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Nije recenziran

Ključne riječi
robotic rehabilitation ; functional recovery ; engineering design ; mechatronics device

Sažetak
Engaging in rehabilitation sessions within 3 poststroke weeks show better outcomes [2]. To regain motion skills, the patients must reacquire in this frame the ability to perform a series of quick and precise movements [1]. The human motor system is, however, very complex, so that the central nervous system “organizes” it hierarchically, forming functional groups encompassing several muscles with their activation sequences. Such synergies should be stimulated in rehabilitation to enable the recovery of daily activities. A compact upper limb mechatronics rehabilitation device, conceptualized in [3], is hence detailed in this work. The considered design goals are smooth interactions, kinematic compatibility with the human arm, redundant safety features, low cost and robust adaptive control enabled by proper sensors. To assure the functional architecture of the device, the analysis of human-device interactions and interfaces, the modeling of the respective kinematics, and the characterization of the respective specifications are hence to be performed [1]. The modeling starts thus from a simplified 8 degrees of freedom (DOFs) human arm configuration, adding subsequently further complexity layers. The functional and operational specifications are then detailed for the interfaces, the mechanical parts, the actuators and sensors, and the control system. The finally proposed mechatronics device comprises 8 revolute active joints supplemented with one spherical and 5 prismatic passive joints, resulting in a total of 14 joints and 16 DOFs distributed along the shoulderelbow- wrist-hand interaction chain. The study of the respective ranges of motion is also performed, and verified against the rehabilitation requirements. The analysis of the relation between the device and human kinematics, the respective modeling and the practical execution of the proposed innovative design configuration are planned next.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti

POVEZANOST RADA