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 language | English |
|---|---|
| Title of host publication | 42nd Mechanisms and Robotics Conference |
| Publisher | American Society of Mechanical Engineers (ASME) |
| Volume | 5A-2018 |
| ISBN (Electronic) | 9780791851807 |
| DOIs | |
| Publication status | Published - Jan 1 2018 |
| Event | ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 - Quebec City, Canada Duration: Aug 26 2018 → Aug 29 2018 |
Other
| Other | ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 |
|---|---|
| Country | Canada |
| City | Quebec City |
| Period | 8/26/18 → 8/29/18 |
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ASJC Scopus subject areas
- Mechanical Engineering
- Computer Graphics and Computer-Aided Design
- Computer Science Applications
- Modelling and Simulation
Cite this
Flexibility in upper limb rehabilitation with the use of 1-DOF fourbar linkages. / Kurrnashev, Sabit; Ospanov, Sayat; Malik, Aryslan; Xydas, Evagoras; Mueller, Andreas.
42nd Mechanisms and Robotics Conference. Vol. 5A-2018 American Society of Mechanical Engineers (ASME), 2018.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Flexibility in upper limb rehabilitation with the use of 1-DOF fourbar linkages
AU - Kurrnashev, Sabit
AU - Ospanov, Sayat
AU - Malik, Aryslan
AU - Xydas, Evagoras
AU - Mueller, Andreas
PY - 2018/1/1
Y1 - 2018/1/1
N2 - 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.
AB - 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.
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UR - http://www.scopus.com/inward/citedby.url?scp=85057060427&partnerID=8YFLogxK
U2 - 10.1115/DETC201885381
DO - 10.1115/DETC201885381
M3 - Conference contribution
AN - SCOPUS:85057060427
VL - 5A-2018
BT - 42nd Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
ER -