UPPER LIMB REHABILITATION WITH A COLLABORATIVE ROBOT

Bogdan GHERMAN, Alin BURZ, Daniela JUCAN, Fidelian BARA, Giusepe CARBONE, Doina PISLA

Abstract


The interest in rehabilitation robotics is showing a steady growth over the last decades. This paper presents a rehabilitation application for the upper limb, achieved using a well-known industrial collaborative robot. The proposed robotic system has been programmed and a specific layout has been developed to provide an active-assistive control strategy.  Key words: robotic rehabilitation, upper limb, collaborative robot, control strategy, post-stroke. 

The interest in rehabilitation robotics is showing a steady growth over the last decades. This paper presents a rehabilitation application for the upper limb, achieved using a well-known industrial collaborative robot. The proposed robotic system has been programmed and a specific layout has been developed to provide an active-assistive control strategy.

Key words: robotic rehabilitation, upper limb, collaborative robot, control strategy, post-stroke.


Full Text:

PDF

References


Yue, Z, Zhang, X, Wang, J. Hand Rehabilitation Robotics on Poststroke Motor Recovery, Behav. Neurol., doi: 10.1155/2017/3908135, 2017.

Ceccarelli, M. Problems and Experiences on Cable-Based Service Robots for Physiotherapy Applications, New Trends in Medical and Service Robots, Springer, Dordrecht, Vol. 16, pp.27-42, 2013

Stefano, M., Patrizia, P., Mario, A., Ferlini, G., Rizzello, R., Rosati,G., Robotic Upper Limb Rehabilitation after Acute Stroke by NeRoBot: Evaluation of Treatment Costs, BioMed Research International, doi: 10.1155/2014/265634, 2014.

Hogan, N., Krebs, H.I., Charnnarong, J., Skikrishna,P., Sharon, A., MIT – Manus: A Workstation for Manual Therapy and Training, IEEE Int. Workshop on Robot and Human Communication ROMAN, pp. 161– 165,Tokyo, 1992.

Izard, JB., Dubor, A., Hervé, PE. et al., Large-scale 3D printing with cable-driven parallel robots, Construction Robotics Vol. 1 pp. 69-76, 2017.

Plitea, N, Vaida, C., Carbone, G., Pisla, A., Ulinici I., Pisla, D., On the Kinematics of an Innovative Spherical Parallel Robot for Shoulder Rehabilitation, Multibody Mechatronic Systems, pp. 464-473, 2017.

Birlescu, I., Pisla, D., Gherman, B., Pisla, A., Vaida, C., Carbone, G., Plitea, N., On the Singularities of a Parallel Robotic System Used for Elbow and Wrist Rehabilitation, Advances in Robot Kinematics, pp. 203-2011, 2018.

Chetran, B., Aluței, A.M., Szelitzky, E., Mandru, D., Rehabilitation exercisers – from simple devices to robotic systems, ACTA TECHNICA NAPOCENSIS, Series: Applied Mathematics and Mechanics, Vol. 54(1), 2011.

Murar, M., Brad, S., Fulea, M., Dual arm robot grippers’ teach-in and control architecture for handling of small objects with complex shapes towards elder care services, ACTA TECHNICA NAPOCENSIS, Series: Applied Mathematics and Mechanics, Vol. 59(1), 2016.

Mokaram S. et al., A ROS-integrated API for the KUKA LBR iiwa collaborative robot, IFAC-PapersOnLine, Vol. 50(1), pp. 15859-15864, 2017.

Reddivari, H., et al., Teleoperation control of Baxter robot using body motion tracking, International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI), DOI: 10.1109/MFI.2014.6997722, 2014.

Kirschner, D., Velik, R., Yahyanejad, S., Brandstötter, M., Hofbaur, M., YuMi, Come and Play with Me! A Collaborative Robot for Piecing Together a Tangram Puzzle, Interactive Collaborative Robotics, pp. 243-251, 2016

Vaida, C., Carbone, G., Major, K., Major, Z., Plitea, N., Pisla, D., On human robot interaction modalities in the upper limb rehabilitation after stroke, ACTA TECHNICA NAPOCENSIS, Series: Applied Mathematics and Mechanics, Vol. 60(1), 2017.

Poli, P., Morone, G., Rosati, G., Masiero, S. Robotic Technologies and Rehabilitation: New Tools for Stroke Patients' Therapy, Biomed Res Int., 2314-6141, doi: 10.1155/2013/153872, 2013.

Chen, S.H. at al. Assistive Control System for Upper Limb Rehabilitation Robot, IEEE Trans Neural Syst Rehabil Eng, Vol. 24(1), pp. 1199-1209, 2016.

Stratasys Inc., https://www.stratasys.com/-/media/files/printer-spec-sheets/pss_fdm_fortus380mc450mc_0418a.pdf, March 2019

Mocan, B., Fulea M., Offline programming of robotic arc welding systems, ACTA TECHNICA NAPOCENSIS, Series: Applied Mathematics and Mechanics, Vol. 54(1), 2011.


Refbacks

  • There are currently no refbacks.


JOURNAL INDEXED IN :