Conference Paper

A Parallel Compliant Meso-Manipulator for Finger Rehabilitation Treatments: Kinematic and Dynamic Analysis.

DOI: 10.1109/IROS.2008.4651029 Conference: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Acropolis Convention Center, Nice, France
Source: DBLP


A parallel and flexible meso-manipulator for finger rehabilitation treatments is presented in this paper. The work deals with the study of a meso-robotpsilas kinematic and dynamic peculiar behavior, aimed at allowing its application to muscular activity and tendon tension, in those patients with even a partial lack of the fingers functionality, for instance due to a stroke. As a result of its structural compliance, the meso-manipulator results particularly suitable for a rehabilitative application: after having coupled the manipulator to a common cloth-glove joined to the mobile platform of the robot, the patientpsilas finger can be driven to the required movement. As external loads can also be imposed to the involved tendons, the realized motion parts performed by the robot and by the patient can be quantified. In this way, the surgeon can constantly monitor the therapy trend, but also the patient has an objective quantification of his/her improvement.

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    • "Parallel robots with flexure joints have also been studied, including and flexure-jointed 6 DOF platforms [18]–[21], high-precision robots [22], [23], mechanisms for micro/nano-manipulation [24], [25], and 3 DOF translation platforms [26]. In medical robotics, parallel robots with elastic actuation and flexure joints have been developed for rehabilitation [27], [28], and capsule endoscopy [29]. Parallel continuum robots differ in that they exhibit large, nonlinear, link deflections by design, "
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    ABSTRACT: In this paper, we investigate continuum manipula-tors that are analogous to conventional rigid-link parallel robot designs. These " parallel continuum manipulators " have the potential to inherit some of the compactness and compliance of continuum robots while retaining some of the precision, stability , and strength of rigid-link parallel robots, yet they represent a relatively unexplored area of the broad manipulator design space. We describe the construction of a prototype manipulator structure with six compliant legs connected in a parallel pattern similar to that of a Stewart-Gough platform. We formulate the static forward and inverse kinematics problems for such manipulators as the solution to multiple Cosserat-rod models with coupled boundary conditions, and we test the accuracy of this approach in a set of experiments, including the prediction of leg buckling. An inverse kinematics simulation of slices through the 6 degree-of-freedom (DOF) workspace illustrates the kinematic mapping, range of motion, and force required for actuation, which sheds light on the potential advantages and tradeoffs that parallel continuum manipulators may bring. Potential applications include miniature wrists and arms for endoscopic medical procedures, and lightweight compliant arms for safe interaction with humans.
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    • "Their actuation properties originate from a solid-state phase transformation, which is affected by changes in temperature or stress, and strain. SMA actuators are widely used in wire or spring configurations, but upcoming applications in, e.g., medical instrumentation or microsystems also demand more complex shapes [2] [3]. However, designing SMA actuators is a challenging task, due to the complex material behavior and also electrical, thermal and mechanical aspects have to be considered simultaneously. "
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    ABSTRACT: A modular design for a shape memory actuator is proposed. The actuator is able to perform linear movements, while the modularity allows force and/or stroke improvements. Experimental results show how the behavior of the proposed implementation is sufficient for a wide class of problems and can be improved with proper developments. © (2012) Trans Tech Publications, Switzerland.
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    ABSTRACT: Piezoelectric bimorph benders are a particular class of piezoelectric devices, which are characterized by the ability to produce flexural deformation greatly larger than the length or thickness deformation of a single piezoelectric layer. Due to extensive dimensional reduction of devices and to the high accuracy and repeatability requested, the effect of erroneous parameter estimation and the fluctuation of parameters due to external reasons, sometimes, cannot be omitted. As such, we consider mechanical, electrical and piezoelectric parameters as uniformly distributed around a nominal value and we calculate the distribution of natural frequencies of the device. We consider an analytical model for the piezoelectric bimorph proposed in literature. The results show how the parameters errors are reflected on the natural frequencies and how an increment of the error is able to change the shape of the frequencies distribution.
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