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Orban M, Guo K, Yang H, Hu X, Hassaan M, Elsamanty M. Soft pneumatic muscles for post-stroke lower limb ankle rehabilitation: leveraging the potential of soft robotics to optimize functional outcomes. Front Bioeng Biotechnol 2023; 11:1251879. [PMID: 37781541 PMCID: PMC10539589 DOI: 10.3389/fbioe.2023.1251879] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/13/2023] [Accepted: 08/31/2023] [Indexed: 10/03/2023] Open
Abstract
Introduction: A soft pneumatic muscle was developed to replicate intricate ankle motions essential for rehabilitation, with a specific focus on rotational movement along the x-axis, crucial for walking. The design incorporated precise geometrical parameters and air pressure regulation to enable controlled expansion and motion. Methods: The muscle's response was evaluated under pressure conditions ranging from 100-145 kPa. To optimize the muscle design, finite element simulation was employed to analyze its performance in terms of motion range, force generation, and energy efficiency. An experimental platform was created to assess the muscle's deformation, utilizing advanced techniques such as high-resolution imaging and deep-learning position estimation models for accurate measurements. The fabrication process involved silicone-based materials and 3D-printed molds, enabling precise control and customization of muscle expansion and contraction. Results: The experimental results demonstrated that, under a pressure of 145 kPa, the y-axis deformation (y-def) reached 165 mm, while the x-axis and z-axis deformations were significantly smaller at 0.056 mm and 0.0376 mm, respectively, highlighting the predominant elongation in the y-axis resulting from pressure actuation. The soft muscle model featured a single chamber constructed from silicone rubber, and the visually illustrated and detailed geometrical parameters played a critical role in its functionality, allowing systematic manipulation to meet specific application requirements. Discussion: The simulation and experimental results provided compelling evidence of the soft muscle design's adaptability, controllability, and effectiveness, thus establishing a solid foundation for further advancements in ankle rehabilitation and soft robotics. Incorporating this soft muscle into rehabilitation protocols holds significant promise for enhancing ankle mobility and overall ambulatory function, offering new opportunities to tailor rehabilitation interventions and improve motor function restoration.
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Affiliation(s)
- Mostafa Orban
- School of Biomedical Engineering (Suzhou), Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei, China
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou, China
- Mechanical Department, Faculty of Engineering at Shoubra, Benha University, Cairo, Egypt
| | - Kai Guo
- School of Biomedical Engineering (Suzhou), Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei, China
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou, China
| | - Hongbo Yang
- School of Biomedical Engineering (Suzhou), Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei, China
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou, China
| | - Xuhui Hu
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou, China
| | - Mohamed Hassaan
- Mechanical Department, Faculty of Engineering at Shoubra, Benha University, Cairo, Egypt
| | - Mahmoud Elsamanty
- Mechanical Department, Faculty of Engineering at Shoubra, Benha University, Cairo, Egypt
- Mechatronics and Robotics Department, School of Innovative Design Engineering, Egypt-Japan University of Science and Technology, Alexandria, Egypt
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Chellal AA, Lima J, Gonçalves J, Fernandes FP, Pacheco F, Monteiro F, Brito T, Soares S. Robot-Assisted Rehabilitation Architecture Supported by a Distributed Data Acquisition System. SENSORS (BASEL, SWITZERLAND) 2022; 22:9532. [PMID: 36502234 PMCID: PMC9740827 DOI: 10.3390/s22239532] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/31/2022] [Revised: 11/20/2022] [Accepted: 11/26/2022] [Indexed: 06/12/2023]
Abstract
Rehabilitation robotics aims to facilitate the rehabilitation procedure for patients and physical therapists. This field has a relatively long history dating back to the 1990s; however, their implementation and the standardisation of their application in the medical field does not follow the same pace, mainly due to their complexity of reproduction and the need for their approval by the authorities. This paper aims to describe architecture that can be applied to industrial robots and promote their application in healthcare ecosystems. The control of the robotic arm is performed using the software called SmartHealth, offering a 2 Degree of Autonomy (DOA). Data are gathered through electromyography (EMG) and force sensors at a frequency of 45 Hz. It also proves the capabilities of such small robots in performing such medical procedures. Four exercises focused on shoulder rehabilitation (passive, restricted active-assisted, free active-assisted and Activities of Daily Living (ADL)) were carried out and confirmed the viability of the proposed architecture and the potential of small robots (i.e., the UR3) in rehabilitation procedure accomplishment. This robot can perform the majority of the default exercises in addition to ADLs but, nevertheless, their limits were also uncovered, mainly due to their limited Range of Motion (ROM) and cost.
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Affiliation(s)
- Arezki Abderrahim Chellal
- Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
- Laboratório para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC), Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
- Engineering Department, School of Sciences and Technology, UTAD, 5000-801 Vila Real, Portugal
| | - José Lima
- Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
- Laboratório para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC), Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
- INESC TEC—INESC Technology and Science, 4200-465 Porto, Portugal
| | - José Gonçalves
- Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
- Laboratório para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC), Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
- INESC TEC—INESC Technology and Science, 4200-465 Porto, Portugal
| | - Florbela P. Fernandes
- Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
- Laboratório para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC), Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
| | - Fátima Pacheco
- Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
- Laboratório para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC), Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
| | - Fernando Monteiro
- Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
- Laboratório para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC), Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
| | - Thadeu Brito
- Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
- Laboratório para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC), Instituto Politécnico de Bragança, 5300-252 Bragança, Portugal
- INESC TEC—INESC Technology and Science, 4200-465 Porto, Portugal
- Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal
| | - Salviano Soares
- Engineering Department, School of Sciences and Technology, UTAD, 5000-801 Vila Real, Portugal
- IEETA—Institute of Electronics and Informatics Engineering of Aveiro, 3810-193 Aveiro, Portugal
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Dynamic Analysis and Trajectory Tracking Control for a Parallel Manipulator with Joint Friction. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12136682] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/04/2023]
Abstract
To overcome the bearing capacity deficiencies of traditional serial hip joint simulators, complex trajectory simulation, among others, as well as a parallel manipulator with two pairs of artificial hip joints and two moving platforms are proposed. The movements and driving forces of the parallel manipulator under the required motion and loading are studied to provide a basis for further research. In this study, the modeling and analysis of inverse kinematics and dynamics for a parallel manipulator with joint friction are derived. In the inverse kinematic model, kinematic relationships between the linear module slider and the moving platform are established, and expressions for the slider are deduced. Subsequently, by analyzing the frictional forces of the artificial hip joint and thrust ball bearing, a rigid body dynamics model of the parallel manipulator with joint friction is established, which is subsequently decomposed into four driving torques associated with the moving platform, joint lever, slider, and screw. Finally, the difference in the kinematic performance between the two moving platforms is analyzed using numerical simulations and experiments, and the accuracy of the established model is verified.
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Jeong H, Choi K, Park SJ, Park CH, Choi HR, Kim U. Rugged and Compact Three-Axis Force/Torque Sensor for Wearable Robots. SENSORS 2021; 21:s21082770. [PMID: 33919929 PMCID: PMC8070922 DOI: 10.3390/s21082770] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/01/2021] [Revised: 03/25/2021] [Accepted: 04/12/2021] [Indexed: 11/16/2022]
Abstract
In the field of robotics, sensors are crucial in enabling the interaction between robots and their users. To ensure this interaction, sensors mainly measure the user's strength, and based on this, wearable robots are controlled. In this paper, we propose a novel three-axis force/torque sensor for wearable robots that is compact and has a high load capacity. The bolt and nut combination of the proposed sensor is designed to measure high-load weights, and the simple structure of this combination allows the sensor to be compact and light. Additionally, to measure the three-axis force/torque, we design three capacitance-sensing cells. These cells are arranged in parallel to measure the difference in capacitance between the positive and negative electrodes. From the capacitance change measured by these sensing cells, force/torque information is converted through deep neural network calibration. The sensing point can also be confirmed using the geometric and kinematic relation of the sensor. The proposed sensor is manufactured through a simple and inexpensive process using cheap and simply structured components. The performance of the sensor, such as its repeatability and capacity, is evaluated using several experimental setups. In addition, the sensor is applied to a wearable robot to measure the force of an artificial muscle.
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Affiliation(s)
- Heeyeon Jeong
- Department of Robot and Mechatronics, Korea Institute of Machinery & Materials (KIMM), 156, Gajeongbuk-ro, Yuseong-gu, Daejeon 34103, Korea; (H.J.); (K.C.); (S.J.P.); (C.H.P.)
- Department of Mechanical Engineering, Sungkyunkwan University, 2066, Seobu-ro, Jangan-gu, Suwon 16419, Korea
| | - Kyungjun Choi
- Department of Robot and Mechatronics, Korea Institute of Machinery & Materials (KIMM), 156, Gajeongbuk-ro, Yuseong-gu, Daejeon 34103, Korea; (H.J.); (K.C.); (S.J.P.); (C.H.P.)
| | - Seong Jun Park
- Department of Robot and Mechatronics, Korea Institute of Machinery & Materials (KIMM), 156, Gajeongbuk-ro, Yuseong-gu, Daejeon 34103, Korea; (H.J.); (K.C.); (S.J.P.); (C.H.P.)
| | - Cheol Hoon Park
- Department of Robot and Mechatronics, Korea Institute of Machinery & Materials (KIMM), 156, Gajeongbuk-ro, Yuseong-gu, Daejeon 34103, Korea; (H.J.); (K.C.); (S.J.P.); (C.H.P.)
| | - Hyouk Ryeol Choi
- Department of Mechanical Engineering, Sungkyunkwan University, 2066, Seobu-ro, Jangan-gu, Suwon 16419, Korea
- Correspondence: (H.R.C.); (U.K.); Tel.: +82-42-868-7130 (U.K.)
| | - Uikyum Kim
- Department of Robot and Mechatronics, Korea Institute of Machinery & Materials (KIMM), 156, Gajeongbuk-ro, Yuseong-gu, Daejeon 34103, Korea; (H.J.); (K.C.); (S.J.P.); (C.H.P.)
- Correspondence: (H.R.C.); (U.K.); Tel.: +82-42-868-7130 (U.K.)
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