"Hybrid-PLEMO", Rehabilitation system for upper limbs with Active/Passive Force Feedback mode

ABSTRACT Several rehabilitation robots for upper limbs have been proposed so far, and clinical effectiveness was reported in several studies for the aged people or patients with stroke. However most of them have only 2-DOF for its active motion. It is important for designing a rehabilitation system which trains in the 3-DOF space because the upper limbs of humans works in 3-DOF space even expect for the wrist. We developed the quasi 3-DOF rehabilitation system which has 2-DOF force-feedback function in working plane but its working plane can be adjusted the inclination. And we named it Hybrid-PLEMO for it can be switched between active type and passive type. Hybrid-PLEMO is a compact, low-cost rehabilitation system for upper limbs with high safety by using ER brakes or ER actuators. Additionally, in Hybrid-PLEMO, we take direct-drive linkage mechanism by adding sub links. In this paper, we describe the mechanism and haptic control of Hybrid-PLEMO.


Available from: Takehito Kikuchi, Sep 18, 2014
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    ABSTRACT: We developed a compact and low-cost quasi-3-DOF rehabilitation system ldquoHybrid-PLEMOrdquo for upper limbs of stroke patients. Hybrid-PLEMO has 2-DOF force feedback function in working plane, its working plane can be adjusted the inclination, and it can be switched between active type and passive type. However, there are some directions and link positions which are difficult to display the force when Hybrid-PLEMO works at passive type. Redundant brakes method had been suggested to made it possible to display various force directions and various postures of virtual objects by the improvement of the controllability. In this paper, a novel method is presented for performance evaluation of a passive-type force display system with redundant brakes. Using this method, we evaluate the performance of a 2-DOF passive-type force display system with and without redundant brakes, and draw a conclusion that it is good to add redundant brakes to the passive-type force display and rehabilitation system.
    Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on; 07/2009
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    ABSTRACT: Following two decades of design and clinical research on robot-mediated therapy for the shoulder and elbow, therapeutic robotic devices for other joints are being proposed: several research groups including ours have designed robots for the wrist, either to be used as stand-alone devices or in conjunction with shoulder and elbow devices. However, in contrast with robots for the shoulder and elbow which were able to take advantage of descriptive kinematic models developed in neuroscience for the past 30 years, design of wrist robots controllers cannot rely on similar prior-art: wrist movement kinematics has been largely unexplored. This study aimed at examining speed profiles of fast, visuallyevoked, visually-guided, target-directed human wrist pointing movements. Thirteen hundred ninety-eight (1398) trials were recorded from seven unimpaired subjects who performed centerout flexion/extension and abduction/adduction wrist movements and fitted with nineteen models previously proposed for describing reaching speed profiles. A nonlinear, least-squares optimization procedure extracted parameters sets that minimized error between experimental and reconstructed data. Models performances were compared based on their ability to reconstruct experimental data. Results suggest that the support-bounded lognormal is the best model for speed profiles of fast, wrist pointing movements. Applications include design of control algorithms for therapeutic wrist robots and quantitative metrics of motor recovery.
    IEEE transactions on neural systems and rehabilitation engineering: a publication of the IEEE Engineering in Medicine and Biology Society 12/2012; 21(5). DOI:10.1109/TNSRE.2012.2231943 · 2.82 Impact Factor
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    ABSTRACT: The existing shortage of therapists and caregivers assisting physically disabled individuals at home isexpected to increase and become serious problem in the near future. The patient population needingphysical rehabilitation of the upper extremity is also constantly increasing. Robotic devices have thepotential to address this problem as noted by the results of recent research studies. However, theavailability of these devices in clinical settings is limited, leaving plenty of room for improvement.The purpose of this paper is to document a review of robotic devices for upper limb rehabilitationincluding those in developing phase in order to provide a comprehensive reference about existingsolutions and facilitate the development of new and improved devices. In particular the followingissues are discussed: application field, target group, type of assistance, mechanical design, controlstrategy and clinical evaluation. This paper also includes a comprehensive, tabulated comparison oftechnical solutions implemented in various systems.
    Journal of NeuroEngineering and Rehabilitation 01/2014; 11(1):3. DOI:10.1186/1743-0003-11-3 · 2.62 Impact Factor