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Sunilkumar P, Mohan S, Mohanta JK, Wenger P, Rybak L. Design and motion control scheme of a new stationary trainer to perform lower limb rehabilitation therapies on hip and knee joints. INT J ADV ROBOT SYST 2022. [DOI: 10.1177/17298814221075184] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
Limb disability is one of the serious problems and rehabilitation of lower limb requires an assistive force to the patient. A new design for stationary trainer for performing rehabilitation therapies for lower limb at the knee as well as hip joints in the sitting/lying positions is presented in this article. A passive orthosis (similar to an exoskeleton) is suggested in this system to provide a support to lower limb of the patient. The suggested mechanism also comprises of an active Cartesian manipulator based upon a spatial three parallel prismatic–revolute–revolute–revolute kinematic arrangement to perform the required limb therapeutic motions in the transverse/horizontal/lateral and sagittal/longitudinal plane. Numerically, the usefulness of the designed stationary trainer is confirmed using computer-based simulations along with a motion control scheme by performing various clinically suggested therapeutic motion tracking (passive range of motions) tasks. The article demonstrates the accomplishment of the control scheme for various training procedures of the lower limb.
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Affiliation(s)
- Parvathi Sunilkumar
- Department of Mechanical Engineering, Indian Institute of Technology Palakkad, India
| | - Santhakumar Mohan
- Department of Mechanical Engineering, Indian Institute of Technology Palakkad, India
| | - Jayant Kumar Mohanta
- Department of Mechanical Engineering, Indian Institute of Technology Jodhpur, India
| | - Philippe Wenger
- Laboratoire des Sciences du Numérique de Nantes (LS2N), CNRS, Nantes, France
| | - Larisa Rybak
- Department of Mechnical Engineering, Belgorod State Technological University (BSTU) named after V.G. Shukhov, Russia
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Tiboni M, Borboni A, Vérité F, Bregoli C, Amici C. Sensors and Actuation Technologies in Exoskeletons: A Review. SENSORS (BASEL, SWITZERLAND) 2022; 22:884. [PMID: 35161629 PMCID: PMC8839165 DOI: 10.3390/s22030884] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/31/2021] [Revised: 01/16/2022] [Accepted: 01/19/2022] [Indexed: 02/06/2023]
Abstract
Exoskeletons are robots that closely interact with humans and that are increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance augmentation or as haptic devices. In the last few decades, the research activity on these robots has grown exponentially, and sensors and actuation technologies are two fundamental research themes for their development. In this review, an in-depth study of the works related to exoskeletons and specifically to these two main aspects is carried out. A preliminary phase investigates the temporal distribution of scientific publications to capture the interest in studying and developing novel ideas, methods or solutions for exoskeleton design, actuation and sensors. The distribution of the works is also analyzed with respect to the device purpose, body part to which the device is dedicated, operation mode and design methods. Subsequently, actuation and sensing solutions for the exoskeletons described by the studies in literature are analyzed in detail, highlighting the main trends in their development and spread. The results are presented with a schematic approach, and cross analyses among taxonomies are also proposed to emphasize emerging peculiarities.
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Affiliation(s)
- Monica Tiboni
- Department of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, Italy; (M.T.); (C.A.)
| | - Alberto Borboni
- Department of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, Italy; (M.T.); (C.A.)
| | - Fabien Vérité
- Agathe Group INSERM U 1150, UMR 7222 CNRS, ISIR (Institute of Intelligent Systems and Robotics), Sorbonne Université, 75005 Paris, France;
| | - Chiara Bregoli
- Institute of Condensed Matter Chemistry and Technologies for Energy (ICMATE), National Research Council (CNR), Via Previati 1/E, 23900 Lecco, Italy;
| | - Cinzia Amici
- Department of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, Italy; (M.T.); (C.A.)
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Aguilar-Pérez LA, Paredes-Rojas JC, Sanchez-Cruz JI, Leal-Naranjo JA, Oropeza-Osornio A, Torres-SanMiguel CR. Design of an Automated Multiposition Dynamic Wheelchair. SENSORS 2021; 21:s21227533. [PMID: 34833605 PMCID: PMC8619248 DOI: 10.3390/s21227533] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/24/2021] [Revised: 11/07/2021] [Accepted: 11/08/2021] [Indexed: 11/16/2022]
Abstract
This work presents a design for an automatized multiposition dynamic wheelchair used to transport quadriplegic patients by reconfiguring a manual wheelchair structure. An electric actuator is attached to a four-bar mechanism fixed to each side of a wheelchair’s backrest to reach multiposition. The entire device is actuated through a PID controller. An experimental test is carried out in a simplified wheelchair structure. Finally, the structure of the wheelchair is evaluated through the Dynamic analysis and Finite Element Method under the payload computed with the most critical position reached by the mechanism.
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Affiliation(s)
- Luis Antonio Aguilar-Pérez
- Instituto Politécnico Nacional, Escuela Superior de Ingeniería Mecánica y Eléctrica Unidad Zacatenco, Sección de Estudios de Posgrado e Investigación Unidad Zacatenco, Ciudad de México 07738, Mexico; (L.A.A.-P.); (J.I.S.-C.)
| | - Juan Carlos Paredes-Rojas
- Instituto Politécnico Nacional, Centro Mexicano para la Producción más Limpia, Acueducto de Guadalupe S/N, La laguna Ticomán, Ciudad de México 07340, Mexico;
| | - Jose Israel Sanchez-Cruz
- Instituto Politécnico Nacional, Escuela Superior de Ingeniería Mecánica y Eléctrica Unidad Zacatenco, Sección de Estudios de Posgrado e Investigación Unidad Zacatenco, Ciudad de México 07738, Mexico; (L.A.A.-P.); (J.I.S.-C.)
| | | | - Armando Oropeza-Osornio
- Instituto Politécnico Nacional, Escuela Superior de Ingeniería Mecánica y Eléctrica, Unidad Ticomán, Ciudad de México 07340, Mexico;
| | - Christopher Rene Torres-SanMiguel
- Instituto Politécnico Nacional, Escuela Superior de Ingeniería Mecánica y Eléctrica Unidad Zacatenco, Sección de Estudios de Posgrado e Investigación Unidad Zacatenco, Ciudad de México 07738, Mexico; (L.A.A.-P.); (J.I.S.-C.)
- Correspondence:
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Nakatani S, Araki N, Hoshino T, Fukayama O, Mabuchi K. Brain-controlled cycling system for rehabilitation following paraplegia with delay-time prediction. J Neural Eng 2020; 18. [PMID: 33291086 DOI: 10.1088/1741-2552/abd1bf] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/01/2020] [Accepted: 12/08/2020] [Indexed: 11/11/2022]
Abstract
Objective.Robotic rehabilitation systems have been investigated to assist with motor dysfunction recovery in patients with lower-extremity paralysis caused by central nervous system lesions. These systems are intended to provide appropriate sensory feedback associated with locomotion. Appropriate feedback is thought to cause synchronous neuron firing, resulting in the recovery of function.Approach.In this study, we designed and evaluated an ergometric cycling wheelchair, with a brain-machine interface (BMI), that can force the legs to move by including normal stepping speeds and quick responses. Experiments were conducted in five healthy subjects and one patient with spinal cord injury (SCI), who experienced the complete paralysis of the lower limbs. Event-related desynchronization (ERD) in the β band (18-28 Hz) was used to detect lower-limb motor images.Main results.An ergometer-based BMI system was able to safely and easily force patients to perform leg movements, at a rate of approximately 1.6 seconds/step (19 rpm), with an online accuracy rate of 73.1% for the SCI participant. Mean detection time from the cue to pedaling onset was 0.83±0.31 s.Significance.This system can easily and safely maintain a normal walking speed during the experiment and be designed to accommodate the expected delay between the intentional onset and physical movement, to achieve rehabilitation effects for each participant. Similar BMI systems, implemented with rehabilitation systems, may be applicable to a wide range of patients.
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Affiliation(s)
- Shintaro Nakatani
- School of engineering, Tottori University, 101, 4 cho-me, Koyama-cho Minami School of Engineering Tottori university, Tottori, Tottori, 680-8550, JAPAN
| | - Nozomu Araki
- Graduate school of engineering, University of Hyogo, 2167, Shosha, Himeji, Hyogo, 671-2280, JAPAN
| | - Takayuki Hoshino
- Department of Mechanical Science, Hirosaki University, 3, Bunkyo, Hirosaki, Aomori, 036-8561, JAPAN
| | - Osamu Fukayama
- National Institute of Information and Communications Technology Center for Information and Neural Networks, 1-4 Yamadaoka, Suita, Osaka, 565-0871, JAPAN
| | - Kunihiko Mabuchi
- The University of Tokyo Graduate School of Information Science and Technology, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, JAPAN
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Jain P, Bera TK, Rafique S, Singla A, Isaksson M. Comparative study of knee joint torque estimations for linear and rotary actuators using bond graph approach for stand–sit–stand motions. INT J ADV ROBOT SYST 2020. [DOI: 10.1177/1729881420963742] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022] Open
Abstract
Stand–sit–stand (STS) motions are the most frequently performed activities of everyday life and require extensive movement of knee joint. People suffering from knee joint disorders face difficulties in performing this motion. The compact knee exoskeleton (KE) has proven to be a viable, less complex, and cheaper alternative to the available entire lower-, upper-, and full-body exoskeletons. With growing number of technical glitches and finite battery life problems, there exist risks of sudden failure of the actuator of KE that could be detrimental for the vulnerable users. To overcome this problem, there is a need to accommodate a backup actuator in KE which can continue providing assistance during movement if the primary actuator ceases to function. This article provides a performance comparison of a four-bar mechanism-driven KE that can accommodate both the linear and the rotary actuators. The modelling and simulation of the system are performed using the bond graph (BG) technique. The results successfully showed that both actuators offered desired ranges of motions needed for STS motion. Furthermore, the knee joint torques developed by the linear and rotary actuators were found to be 40 Nm and 57 Nm, respectively, which corresponds to 60% and 85% of the total torque required by the knee joint to perform STS motions, thereby reducing the user effort to 40% and 15%, respectively. Thus, both actuators are self-capable to provide necessary assistance at the knee joint even if the primary actuator ceases to work due to a sudden fault, the secondary actuator will provide the required rotation of the thigh link and will continue to deliver the assistive torque. The article also effectively shows the application of BG approach to model the multidisciplinary systems like KE as it conveniently models the system containing various elements in different energy domains.
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Affiliation(s)
- Prakhar Jain
- Department of Mechanical Engineering, Thapar Institute of Engineering and Technology, Patiala, India
| | - Tarun Kumar Bera
- Department of Mechanical Engineering, Thapar Institute of Engineering and Technology, Patiala, India
| | - Sajid Rafique
- Department of Electrical Engineering, Mathematics, and Science, Faculty of Engineering and Sustainable Development, University of Gävle, Gävle, Sweden
| | - Ashish Singla
- Department of Mechanical Engineering, Thapar Institute of Engineering and Technology, Patiala, India
| | - Magnus Isaksson
- Department of Electrical Engineering, Mathematics, and Science, Faculty of Engineering and Sustainable Development, University of Gävle, Gävle, Sweden
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Huang G, Ceccarelli M, Huang Q, Zhang W, Yu Z, Chen X, Mai J. Design and Feasibility Study of a Leg-exoskeleton Assistive Wheelchair Robot with Tests on Gluteus Medius Muscles. SENSORS (BASEL, SWITZERLAND) 2019; 19:E548. [PMID: 30696120 PMCID: PMC6387381 DOI: 10.3390/s19030548] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/11/2018] [Revised: 01/10/2019] [Accepted: 01/23/2019] [Indexed: 11/16/2022]
Abstract
The muscles of the lower limbs directly influence leg motion, therefore, lower limb muscle exercise is important for persons living with lower limb disabilities. This paper presents a medical assistive robot with leg exoskeletons for locomotion and leg muscle exercises. It also presents a novel pedal-cycling actuation method with a crank-rocker mechanism. The mechanism is driven by a single motor with a mechanical structure that ensures user safety. A control system is designed based on a master-slave control with sensor fusion method. Here, the intended motion of the user is detected by pedal-based force sensors and is then used in combination with joystick movements as control signals for leg-exoskeleton and wheelchair motions. Experimental data is presented and then analyzed to determine robotic motion characteristics as well as the assistance efficiency with attached electromyogram (EMG) sensors. A typical muscle EMG signal analysis shows that the exercise efficiency for EMG activated amplitudes of the gluteus medius muscles approximates a walking at speed of 3 m/s when cycling at different speeds (i.e., from 16 to 80 r/min) in a wheelchair. As such, the present wheelchair robot is a good candidate for enabling effective gluteus medius muscle exercises for persons living with gluteus medius muscle disabilities.
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Affiliation(s)
- Gao Huang
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China.
- Intelligent Robot Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China.
- LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino, 03043, Italy.
| | - Marco Ceccarelli
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China.
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China.
- LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino, 03043, Italy.
| | - Qiang Huang
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China.
- Intelligent Robot Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China.
| | - Weimin Zhang
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China.
- Intelligent Robot Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China.
| | - Zhangguo Yu
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China.
- Intelligent Robot Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China.
| | - Xuechao Chen
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China.
- Intelligent Robot Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China.
| | - Jingeng Mai
- The Robotics Research Group, College of Engineering, Peking University, China.
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