Naslov
Forearm and Wrist Active Rehabilitation Device

Autori
Škifić, Ana ; 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, 33-33

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
mechanical engineering design ; mechatronics ; rehabilitation ; forearm and wrist

Sažetak
Active mechatronics rehabilitation devices are instrumental in physical rehabilitation of stroke patients [1]. Especially important in this frame is the forearm and wrist rehabilitation that is crucial in assuring regaining the most important everyday activities and functionalities. Based on initial considerations on human arm anatomy and the respective kinematics, a thorough analysis of the state-of-the-art active mechatronics forearm and wrist rehabilitation devices will hence be presented in this work [2- 4]. It will be shown that the available devices, increasingly relying on parallel kinematic configurations, differ considerably in the number and type (active vs. passive) of the considered degrees-offreedom (DOFs), as well as in the respective ranges of motion (ROMs) and needed actuating torques. Average ROM values of 160° for forearm pronation/supination, of 70° for wrist radial/ulnar deviations and of 120° for wrist flexion/extension can, however, be deduced, with the need torques of, respectively, 3.2, 2.2 and 2 Nm. These torques are commonly attained by using brushed or brushless DC motors, coupled to gear reducers (in some cases all integrated in series elastic actuators (SEA)), as well as encoders for positioning feedback, while the required motion transfer is often based on some form of cable drives. In some instances, stepper motors are used instead. The signals on the motion of the forearm itself are, in turn, obtained via inertial motion or electromyography sensors. Based on this analysis, several design configurations of a forearm and wrist mechatronics rehabilitation device will be proposed and critically evaluated. The most promising one will constitute the basis for the development of a compact, efficient and cost- effective innovative design configuration.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti

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