Flexibility in upper limb rehabilitation with the use of 1-DOF fourbar linkages

Sabit Kurrnashev, Sayat Ospanov, Aryslan Malik, Evagoras Xydas, Andreas Mueller

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In robotic rehabilitation the interaction is usually implemented by means of robots based on multi-Degree of Freedom (DOF) open kinematic chains. Despite their inherent flexibility these machines are expensive, complex and require routine maintenance and IT support. In contrast, mechanisms based on closed kinematic chains and especially 1-DOF four- and six bar linkages are simple, yet capable of generating paths with complex kinematic characteristics. These mechanisms are preferable when simplicity and cost are the major criteria, for example in the case of community-based rehabilitation in developing countries. On the other hand, rehabilitation using 1-DOF limits flexibility and potentially impairs the exercise effectiveness, since the patient does not have access to a variety of kinematic challenges. Nevertheless, by careful ergonomic design and by considering varying time constraints, link rotation ranges and varying link lengths this limitation can be overcome. This work aims to demonstrate the potential of 1-DOF four-bar linkages to provide flexibility in therapy by considering a Hoeken's straight line four-bar linkage. After the mechanism is dimensioned, a previonsly developed method is employed for establishing a final prototype design which accounts for significant neurophysiological models such as Minimum Jerk Model, Fitts's Law and Just Noticeable Differences. Given the mechanism characteristics, its potential for generation of exercises that vary with respect to temporal and spatial characteristics is demonstrated.

Original languageEnglish
Title of host publication42nd Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791851807
DOIs
Publication statusPublished - 2018
EventASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 - Quebec City, Canada
Duration: Aug 26 2018Aug 29 2018

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5A-2018

Other

OtherASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018
CountryCanada
CityQuebec City
Period8/26/188/29/18

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

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