Development and Control of a Low-Cost and Portable Robotic Device for Wrist Rehabilitation

Yıl 2019, , 347 - 364, 31.12.2019

İbrahim Karabıyık , Ergin Kılıç , Atilla Bayram

https://doi.org/10.17482/uumfd.609524

Cited By: 2

Öz

In this study, a low cost and portable robotic device has been developed for patients with
partial paralysis who have lost outward and twist wrist movements in the wrist. The main task of the
device is to allow patients with partial paralysis to recover more quickly by performing repetitive wrist
movements. The device is designed to allow the patient to perform wrist exercises comfortably in the
home environment without being dependent on rehabilitation centers and a medical staff. In this study, a
robotic orthesis device has been designed and manufactured with low cost. The flexion and extension
motion control of the wrist were applied on this device in passive and active modes. In passive
rehabilitation mode, oscillation movement at variable speeds and position control with potentiometer
were performed. In the active mode, the device control can be provided directly via EMG sensors and
according to the desire of the users, admittance control architecture is realized with the help of a force
sensor. In addition to being a portable (light and mobile), one of the most important goals in this study is low cost. For this aim, the performance / price ratio was tried to be kept at a reasonable level with the
selected hardware. Finally, this study was compared with similar another study but with a very high cost
in terms of the performance and cost.

Anahtar Kelimeler

Robotic rehabilitation, Passive wrist rehabilitation, Active wrist rehabilitation, EMG signals, Real-time motion control, Admitans control

BİLEK REHABİLİTASYONU İÇİN DÜŞÜK MALİYETLİ BİR TAŞINABİLİR ROBOTİK CİHAZIN GELİŞTİRMESİ VE KONTROLÜ

Öz

Bu çalışma kapsamında, el bileğinde dışa büküm ve içe büküm bilek hareketlerini kaybetmiş kısmi
felçli hastalar için düşük maliyetli ve taşınabilir bir robotik rehabilitasyon cihazı geliştirilmiştir. Aktif
bilek ortezi olarak tanımlanan bu cihaz ile rehabilitasyon merkezlerine ve bir sağlık personeline bağımlı
kalmaksızın herhangi bir ortamında felçli hastalara tekrarlı bilek hareketlerinin yaptırılması
amaçlanmıştır. Bu amaç için bir robotik ortez tasarımı yapılıp prototip üretimi tamamlanmıştır. Bu
prototip üzerinde elin ekstansiyon ve fleksiyon hareketlerinin konum kontrolü hem pasif hem de aktif
rehabilitasyon modlarında yapılabilmektedir. Pasif rehabilitasyon modunda değişken hızlarda salınım
hareketi bir potansiyometre yardımıyla gerçekleştirilirken aktif rehabilitasyon modunda ise EMG
algılayıcıları üzerinden konum kontrolü, kuvvet sensörü üzerinden ise bir admitans türü kontrol mimarisi
yardımıyla dirençli egzersiz uygulamaları tamamen cihaz kullanıcısının isteği/gayesi doğrultusunda
gerçekleşmektedir. Tasarlanan bilek ortezinin mobil olmasının yanında en önemli hedeflerden biri de
düşük maliyetli olmasıdır. Cihazdan istenen performansı yerine getirebilecek ölçüde donanım
elemanlarının kullanılması ile performans/fiyat oranı en üst seviyede tutulmaya çalışılmıştır. Son olarak
literatürde bu çalışmaya benzer fakat maliyeti oldukça yüksek bir başka çalışma ile performans ve maliyet
yönüyle karşılaştırma yapılmıştır

Anahtar Kelimeler

Robotik rehabilitasyon, Pasif bilek rehabilitasyonu, Aktif bilek rehabilitasyonu, EMG Sinyalleri, Gerçek zamanlı hareket denetimi, Admitans kontrolü

Kaynakça

• Aabdallah, I., Bouteraa Y. ve Rekik C. (2016) Design of smart robot for wrist rehabilitation, International Journal on Smart Sensing and Intelligent Systems, 9( 2), 1029-1053, doi: 10.21307/ijssis-2017-906
• Abdallah, I. B., Bouteraa, Y. ve Rekik, C. (2017). Design and development of 3D printed myoelectric robotic exoskeleton for hand rehabilitation., International Journal on Smart Sensing & Intelligent Systems, 10(2), doi: 0.21307/ijssis-2017-210
• AbdulKareem, A.H., Adila, A.S. ve Husi, G. (2018) Recent trends in robotic systems for upper-limb stroke recovery: a low-cost hand and wrist rehabilitation device, 2nd International Symposium on Small-scale Intelligent Manufacturing Systems (SIMS),1-6,doi: 10.1109/SIMS.2018.8355302
• Akdoğan, E., Aktan, M.E., Koru, A.T., Arslan, M.S., Atlıhan, M. ve Kuran, B. (2018) Hybrid impedance control of a robot manipulator for wrist and forearm rehabilitation: performance analysis and clinical results, Mechatronics, 49, 77-91, doi.org/10.1016/j.mechatronics.2017.12.001
• Allington, J., Spencer, S.J., Klein, J., Buell, M., Reinkensmeyer, D.J. ve Bobrow, J. (2011) Supinator extender (SUE): a pneumatically actuated robot for forearm/wrist rehabilitation after stroke, 33rd Annual International Conference of the IEEE EMBS, Boston, USA, doi: 10.1109/IEMBS.2011.6090459
• Ambar R., Zakaria M.F., Ahmad M.S., Muji S. Z. ve Jamil M.M.A., 2017. Development of a Home-based Wrist Rehabilitation System. International Journal of Electrical and Computer Engineering (IJECE), 7(6), 3153-3163, doi: 10.11591/ijece.v7i6.pp3153-3163
• Bartlett NW, Lyau, V, Raiford WA, Holland D, Gafford JB, Ellis TD, Walsh CJ, 2015. A Soft Robotic Orthosis for Wrist Rehabilitation. Journal of Medical Devices, 9, 030918: 1-3, doi: 10.1115/1.4030554
• Blank, A., O'Malley, M.K., Gerard, E.F., Jose, L. ve Contreras-Vidal Senior Member (2013) A Pre-clinical framework for neural control of a therapeutic upper-limb exoskeleton, 6th Annual International IEEE EMBS Conference on Neural Engineering, 1159-1162, doi: 10.1109/NER.2013.6696144
• Carrozza, M.C., Pak, N.N., Cattin, E., Vecchi, F., Marinelli, M. ve Dario P. (2004) On the design of an exoskeleton for neurorehabilitation: design rules and preliminary prototype, 26th Annual International Conference of the IEEE EMBS, San Francisco, CA, USA: 4807-4810, doi: 10.1109/IEMBS.2004.1404330
• Cruz, M.K. (1995) Active wrist brace, US 5653680 patent, USA.
• Erdoğan, A., Satıcı, A.C. ve Patoglu V. (2011) Passive velocity field control of a forearm-wrist rehabilitation robot, IEEE International Conference on Rehabilitation Robotics,1-8, doi: 10.1109/ICORR.2011.5975433
• Gupta, A., O'Malley, M.K., Patoglu, V. ve Burgar, C. (2008) Design, control and performance of ricewrist: a force feedback wrist exoskeleton for rehabilitation and training, The International Journal of Robotics Research, 27(2), 233-251, doi: 10.1177/0278364907084261
• Hoffman, H.B. ve Blakey, G.L. (2011) New design of dynamic orthoses for neurological conditions. NeuroRehabilitation, 28(1): 55-61, doi: 10.3233/NRE-2011-0632
• Hogan, N., Krebs, H.I., Charnnarong, J., Srikrishna, P. ve Sharon, A. (1992) MIT- MANUS: a workstation for manual therapy and training, I, IEEE International Workshop on Robot and Human Communication,161-165, doi: 10.1109/ROMAN.1992.253895
• Just, F., Baur, K., Riener, R., Klamroth-Marganska, V. ve Rauter, G. (2016) Online adaptive compensation of the armin rehabilitation robot, 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 8, 747-752, doi: 10.1109/BIOROB.2016.7523716
• Khokhar, Z.O., Xiao, Z.G. ve Menon, C., 2010. Surface EMG pattern recognition for real-time control of a wrist exoskeleton, BioMedical Engineering, 9(1), 41, doi:10.1186/1475-925X-9-41
• Kılıç, E. ve Doğan, E. (2017) Design and fuzzy logic control of an active wrist orthosis. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, 231 (8), 728-746, doi:10.1177/0954411917705408
• Koeneman, E.J., Schultz, R.S., Wolf, S.L., Herring, D.E. ve Koeneman, J.B. (2004) A pneumatic muscle hand therapy device, 26th Annual International Conference of the IEEE EMBS, 41(1), 2711-2713, doi: 10.1109/IEMBS.2004.1403777
• Marangoz, S. (2006) Ortopedi ve Türkçe: bazı ortopedi terimlerine Türkçe karşılık önerileri, Türk Ortopedi ve Travmatoloji Birliği Derneği Dergisi, 5(3), 89-93.
• Schmidt, H., Hesse, S., Werner, C. ve Bardeleben, A. (2004) Upper and lower extremity robotic devices to promote motor recovery after stroke - recent developments, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 6(2), 4825-4828, doi: 10.1109/IEMBS.2004.1404335
• Takahashi, C.D., Der-Yeghiaian, L., Le, V.H. ve Cramer, S.C. (2005). A robotic device for hand motor therapy after stroke, 9th International Conference on Rehabilitation Robotics, 17-20, doi: 10.1109/ICORR.2005.1501041
• Wang, M. (2014) Design and analysis of an adjustable wrist rehabilitation robot. A Thesis Submitted in Partial Fulfillment of the Requirements for the Degree of Master of Applied Science, University of Ontario Institute of Technology.
• Williams, D.J., Krebs, H.I. ve Hogan N. (2001) A robot for wrist rehabilitation. IEEE International Conference of Engineering Medicine and Biology Society, 2: 1336-1339, doi: 10.1109/IEMBS.2001.1020443