Aktif bir bilek ortezin kinematik ve kinetik analizleri

Öz

Aktif bilek ortezi, ön kol ve bilek ile etkileşim halinde çalışabilen elektromekanik bir cihaz olup, bu cihaz özellikle mesleği gereği gün içerisinde çok fazla tekrarlı bilek hareketleri yapmak zorunda kalan kimseler için tasarlanmıştır. Bu çalışma kapsamında dirsek bölgesinde tendon yırtığı olan (tenisçi ve golfçü dirseğine sahip) hastaların hem rehabilitasyonları hem de günlük ve mesleki hayat aktivitelerinin devamı için tasarlanmış olan aktif bilek ortezin performansının incelenmesi için kinematik ve kinetik analizleri gerçekleştirilmiştir. Ayrıca rehabilitasyon robotların denetiminde tercih edilen iki farklı (admitans ve empedans) kontrol mimarileri içinde cihaz performansı simulasyon ortamında test edilmiştir. Yapılan analizlerden ve performans testleri sonuçlarından tasarım sürecinin başarıyla sonuçlandırıldığı görülmüş olup ileriye dönük çalışmalar için cihazın üretim aşamasına geçilebilecektir.

Anahtar Kelimeler

• Aktif bilek ortezi,Robotik rehabilitasyon,Tenisçi dirseği,Golfçü dirseği

Kinematics and kinetics analyses of an active wrist orthosis

Abstract

Active wrist orthosis is an electromechanical device which can work interacting with forearm and wrist, and this device is especially designed for the ones who should perform excessively repetitive wrist motions due to their profession. In the scope of this study, kinematics and kinetics analyses of the active wrist orthosis, which is designed for the rehabilitation and the continuance of daily and professional activities of patients having a tendon torn at their elbow location, are realized in order to show the performance of the device. Furthermore, the performance of the device under the control of two different control architectures (admittance and empedance) is also tested in a simulation environment. The results of the performance tests and the analyses show that the design process has been successfully accomplished and it can pass through the production stage of the device for the future work studies.

Keywords

• Active wrist orthosis,Robotic rehabilitation,Tennis elbow,Golfer elbow

References

1. McMurtrie A, Watts AC. “(vi) tennis elbow and Golfer’s elbow”. Orthopaedics and Trauma, 26(5), 337-344, 2012.
2. Carrozza MC, Ng Pak N, Cattin E, Vecchi F, Marinelli M, Dario P. "On the design of an exoskeleton for neurorehabilitation: design rules and preliminary prototype". 26th Annual International Conference of the IEEE EMBS, San Francisco, CA, 1-5 September 2004.
3. Deneve A, Moughamir S, Afilal L, Zaytoon J. "Control system design of a 3-DOF upper limbs rehabilitation robot". 6th IFAC Symposium on Modelling and Control in Biomedical Systems, Reims, France, 20-22 September 2008.
4. Masia L, Rodriguez NN, Casadio M, Morasso P, Sandini G, Giannoni P. "Adaptive training strategy of distal movements by means of a wrist-robot". 2nd International Conferences on Advances in Computer-Human Interactions, Cancun, Mexico, 1-7 February 2009.
5. Rahman MH, K-Ouimet T, Saad M, Kenné JP, Archambault PS. "Control of a powered exoskeleton for elbow, forearm and wrist joint movements". IEEE International Conference on Robotics and Biomimetics, Phuket, Thailand, 7-11 December 2011.
6. Allington J, Spencer SJ, Klein J, Buell M, Reinkensmeyer DJ, Bobrow J. "Supinator extender (SUE): A pneumatically actuated robot for forearm/wrist rehabilitation after stroke". 33rd Annual International Conference of the IEEE EMBS, Boston, Massachusetts USA, 30 August-3 September 2011.
7. Atlıhan M, Akdoğan E, Arslan MS. "Development of a therapeutic exercise robot for wrist and forearm rehabilitation". 19th International Conference On Methods and Models in Automation and Robotics (MMAR), Miedzyzdroje, Poland, 2-5 September 2014.
8. Kiguchi K, Hayashi Y. "An EMG-Based Control for an Upper-Limb Power-Assist Exoskeleton Robot". IEEE Transactions on Systems, Man and Cybernetics-Part B: Cybernetics, 42(4), 1064-1071, 2012.

9. Khokhar ZO, Xiao ZG, Menon C. "Surface EMG pattern recognition for real-time control of a wrist exoskeleton". BioMedical Engineering OnLine, 9(41), 1-17, 2010.
10. Scorcia M, Formica D, Tagliamonte NL, Campolo D, Guglielmelli E. "Effects on human motor strategies of physical ınteraction with a force-controlled wrist rehabilitation robot". 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, Tokyo, Japan, 26-29 September 2010.
11. Squeri V, Masia L, Giannoni P, Sandini G, Morasso P. "Wrist rehabilitation in chronic stroke patients by means of adaptive, progressive robot-aided therapy". IEEE Transactions on Neural Systems and Rehabilitation Engineering, 22(2), 312-325, 2014.
12. Song Z, Wang Z, Guo S, Gao B. "Study on resistance training for upper-limb rehabilitation using an exoskeleton device". IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan, 4-7 August 2013.
13. Yamamoto I, Inagawa N, Hachisuka K, Oda F, Nakanishi Y. "Development of compact rehabilitation robot for a wrist using biological signal". ICME International Conference on Complex Medical Engineering, Kobe, Japan, 1-4 July 2012.
14. Colombo R, Pisano F, Micera S, Mazzone A, Delconte C, Carrozza MC, Dario P, Minuco G. "Robotic techniques for upper limb evaluation and rehabilitation of stroke patients". IEEE Transactions on Neural Systems and Rehabilition Engineering, 13(3), 311-324, 2005.
15. Ates S, Haarman CJW, Stienen AHA. “SCRIPT passive orthosis: design of interactive hand and wrist exoskeleton for rehabilitation at home after stroke”. Autonomous Robots, 41, 711-723, 2017.
16. Ates S, Mora-Moreno I, Wessels M, Stienen AHA. “Combined active wrist and hand orthosis for home use: lessons learned”. International Conference on Rehabilitation Robotics, Singapore, 11-14 August 2015.
17. Morse, JL, Jung MC, Bashford GR, Hallbeck MS. "Maximal dynamic grip force and wrist torque: The effects of gender, exertion direction, angular velocity, and wrist angle". Applied Ergonomics, 37(6), 737-742, 2006.
18. Williams DJ, Krebs HI, Hogan N. "A robot for wrist rehabilitation". 23rd Annual EMBS International Conference, Istanbul, Turkey, 25-28 October 2001.
19. Kilic E, Dogan E. “Mechanical design and control of an active wrist orthosis”. Journal of Automation and Control Engineering, 4(6), 394-399, 2016.