(International Islamic University Malaysia, Malaysia)(2) * Norsinnira Zainul Azlan
(International Islamic University Malaysia, Malaysia)(3) Norhaslinda Kamarudzaman
(Sultan Ahmad Shah Medical Centre, Malaysia)*corresponding author
AbstractA huge population of the world is suffering from various kinds of disabilities that make basic daily activities to be challenging. The use of robotics for limb rehabilitation can assist patients to recover faster and reduce therapist to patient ratio. However, the main problems with current rehabilitation robotics are the devices are bulky, complicated, and expensive. The utilization of pneumatic artificial muscles in a rehabilitation system can reduce the design complexity, thus, making the whole system light and compact. This paper presents the development of a new 2 degree of freedom (DOF) wrist motion and thumb motion exoskeleton. A light-weight 3D printed Acrylonitrile Butadiene Styrene (ABS) material is used to fabricate the exoskeleton. The system is controlled by an Arduino Uno microcontroller board that activates the relay to open and close the solenoid valve to actuate the wrist. It allows the air to flow into and out of the pneumatic artificial muscles (PAM) based on the feedback from the sliding potentiometer. The mathematical model of the exoskeleton has been formulated using the Lagrange formula. A Proportional Integral Derivative (PID) controller has been implemented to drive the wrist extension-flexion motion in achieving the desired set-points during the exercise. The results show that the exoskeleton has successfully realized the wrist and thumb movements as desired. The wrist joint tracked the desired position with a maximum steady-state error of 10% for 101.45ᵒ the set point. KeywordsPneumatics Exoskeleton; Upper Limb Rehabilitation; Wrist and Thumb Rehabilitation; Mechanism Design; PID Control
|
DOIhttps://doi.org/10.31763/ijrcs.v1i4.447 |
Article metrics10.31763/ijrcs.v1i4.447 Abstract views : 2236 | PDF views : 697 |
Cite |
Full Text Download
|
References
[1] Z. Hussain and N. Z. Azlan, “3-D Dynamic Modeling and Validation of Human Arm for Torque Determination During Eating Activity Using Kane’s Method,” Iranian Journal of Science and Technology, Transaction of Mechanical Engineering, vol. 44, pp. 661–694, 2020. https://doi.org/10.1007/s40997-019-00299-8
[2] U. Kashtwari, N. Z. Azlan, and I. Shahdad, “Wearable Upper Limb Motion Assist Robot for Eating Activity,” Applied Research and Smart Technology (ARSTech), vol. 1, no. 1, pp. 1–10, June 2020. https://doi.org/10.23917/arstech.v1i1.28
[3] N. Z. Azlan and N. S. Lukman, “Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity,” IIUM Engineering Journal, vol. 22, no. 1, pp. 298–322, 2021. https://doi.org/10.31436/iiumej.v22i1.1480
[4] S. Y. A. Mounis, N. Z. Azlan, and F. Sado, “Assist-As-Needed Control Strategy for Upper Limb Rehabilitation based on Subject’s Functional Ability,” Measurement and Control, vol. 52, no. 9-10, pp. 1354–1361, October 2019. https://doi.org/10.1177/0020294019866844
[5] A. C. McConnell, R. C. Moioli, and F. L. Brasil, “Robotics Devices and Brain-Machine Interfaces for Hand Rehabilitation Post-Stroke,” Journal of Rehabilitation Medicine, vol. 49, pp. 449–460, 2017. https://doi.org/10.2340/16501977-2229
[6] F. Aggogeri, T. Mikolajczyk, and J. O’Kane, “Robotics for Rehabilitation of Hand Movement in Stroke Survivors,” Advances in Rehabilitation Engineering with Robotics and Mechatronic Devices, vol. 11, no. 4, pp. 1-14, April 2019. https://doi.org/10.1177/1687814019841921
[7] C. M. Racu (Cazacu) and I. Doroftei, “New Concepts of Ankle Rehabilitation Devices—Part I: Theoretical Aspects,” Mechanisms and Machine Science, vol. 57, pp 223-231, May 2018. https://doi.org/10.1007/978-3-319-79111-1_22
[8] D. G. Vargas, F. B. Moreno, O. Ramos, M. Múnera, and C. A. Cifuentes, “Experimental Characterization of Flexible and Soft Actuators for Rehabilitation and Assistive Devices,” Interfacing Humans and Robots for Gait Assistance and Rehabilitation, Springer, Cham, pp. 169-192, June 2021. https://doi.org/10.1007/978-3-030-79630-3_6
[9] R. M. Salcedo and M. C. E. Espinosa, “Smart Rehabilitation Solutions through IoT and Mobile Devices,” Management Studies, vol. 7, no. 2, pp. 106-112, 2019. https://doi.org/10.17265/2328-2185/2019.02.003
[10] R. Formicola, F. Ragni, A. Borboni, and C. Amici, “Design Process of Medical Devices for Robotic Rehabilitation: An Open Innovation-Inspired Approach,” Robotics, Machinery and Engineering Technology for Precision Agriculture, vol. 247, pp. 575-584, October 2021. https://doi.org/10.1007/978-981-16-3844-2_51
[11] M. D. F. Domingues, V. Rosa, A. C. Nepomuceno, C. Tavares, N. Alberto, P. Andre, A. Radwan, and P. F. D. C. Antunes, "Wearable Devices for Remote Physical Rehabilitation Using a Fabry-Perot Optical Fiber Sensor: Ankle Joint Kinematic," IEEE Access, vol. 8, pp. 109866-109875, June 2020. https://doi.org/10.1109/ACCESS.2020.3001091
[12] M.A. Lobo and B. Li, “Feasibility and Effectiveness of a Soft Exoskeleton for Pediatric Rehabilitation,” Biosystems & Biorobotics, vol. 27, pp. 327-331, Oct. 2020. https://doi.org/10.1007/978-3-030-69547-7_53
[13] Y. Liu, S. Guo, H. Hirata, H. Ishihara, and T. Tamiya, “Development of a Powered Variable-Stiffness Exoskeleton Device for Elbow Rehabilitation,” Biomedical Microdevices, vol. 20, no. 64, August 2018. https://doi.org/10.1007/s10544-018-0312-6
[14] D. Cafolla, M. Russo, and G. Carbone, “CUBE, a Cable-Driven Device for Limb Rehabilitation,” Journal of Bionic Engineering, vol. 16, pp. 492–502, May 2019. https://doi.org/10.1007/s42235-019-0040-5
[15] C. D. Takahashi, L. Der-Yeghiaian, V. H. Le, and S. C. Cramer, "A Robotic Device for Hand Motor Therapy after Stroke," 9th International Conference on Rehabilitation Robotics, 2005, pp. 17-20. https://doi.org/10.1109/ICORR.2005.1501041
[16] S. Y. A. Mounis, N. Z. Azlan, and F. Sado, "Assist-as-Needed Robotic Rehabilitation Strategy Based on z-Spline Estimated Functional Ability," IEEE Access, vol. 8, pp. 157557-157571, August 2020. https://doi.org/10.1109/ACCESS.2020.3019450
[17] A. S Camp, E. M Chapman, and P. J. Cienfuegos, “Modeling and Analysis of Hydraulic Piston Actuation of McKibben Fluidic Artificial Muscles for Hand Rehabilitation,” The International Journal of Robotics Research, vol. 40, no. 1, pp. 136-147, September 2019. https://doi.org/10.1177/0278364919872251
[18] R. Morales, F. J. Badesa, N. G. Aracil, J. M. Sabater, and C. P. Vidal, “Pneumatic Robotic Systems for Upper Limb Rehabilitation,” Medical & Biological Engineering & Computing, vol. 49, p. 1145, August 2011. https://doi.org/10.1007/s11517-011-0814-3
[19] Q. Liu, J. Zuo, C. Zhu, and S. Q. Xie, “Design and Control of Soft Rehabilitation Robots Actuated by Pneumatic Muscles: State of the Art,” Future Generation Computer Systems, vol. 113, pp. 620-634, December 2020. https://doi.org/10.1016/j.future.2020.06.046
[20] C. T. Chen, W. Y. Lien, C. T. Chen, and Y. C. Wu, “Implementation of an Upper-Limb Exoskeleton Robot Driven by Pneumatic Muscle Actuators for Rehabilitation,” Actuators, vol. 9, no. 4, p. 106, October 2020. https://doi.org/10.3390/act9040106
[21] D. Wang, Y. Wang, B. Zi, Z. Cao, and H. Ding, “Development of an Active and Passive Finger Rehabilitation Robot using Pneumatic Muscle and Magnetorheological Damper,” Mechanism and Machine Theory, vol. 147, p. 103762, May 2020. https://doi.org/10.1016/j.mechmachtheory.2019.103762
[22] A. Hadi, K. Alipour, S. Kazeminasab, and M. Elahinia, “ASR Glove: A Wearable Glove for Hand Assistance and Rehabilitation using Shape Memory Alloys,” Journal of Intelligent Material Systems and Structure, vol. 29, no. 8, pp. 1575-1585, December 2017. https://doi.org/10.1177/1045389X17742729
[23] D. Copaci, E. Cano, L. Moreno, and D. Blanco, "New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators," Applied Bionics and Biomechanics, vol. 2017, p. 1605101, September 2017. https://doi.org/10.1155/2017/1605101
[24] D. Copaci, A. Flores, F. Rueda, I. Alguacil, D. Blanco, and L. Moreno, “Wearable Elbow Exoskeleton Actuated with Shape Memory Alloy,” Biosystems & Biorobotics, vol. 15, pp. 477-481, October 2016. https://doi.org/10.1007/978-3-319-46669-9_79
[25] Y. Wang, S. Zheng, J. Pang, S. Li, and J. Li, "Design and Experiment of a Hand Movement Device Driven by Shape Memory Alloy Wires," Journal of Robotics, vol. 2021, p. 6611581, March 2021. https://doi.org/10.1155/2021/6611581
[26] J. F. Zhang J, C. J. Yang, Y. Chen, Y. Zhang, and Y. M. Dong, “Modeling and Control of a Curved Pneumatic Muscle Actuator for Wearable Elbow Exoskeleton,” Mechatronics, vol. 18, no. 8, pp. 448–457, October 2008. https://doi.org/10.1016/j.mechatronics.2008.02.006
[27] C. T. Chen, W. Y. Lien, C. T. Chen, M. J. Twu, and Y. C. Wu, "Dynamic Modeling and Motion Control of a Cable-Driven Robotic Exoskeleton with Pneumatic Artificial Muscle Actuators,” IEEE Access, vol. 8, pp. 149796-149807, August 2020. https://doi.org/10.1109/ACCESS.2020.3016726
[28] A. Merola, D. Colacino, C. Cosentino, and F. Amato, “Model-based Tracking Control Design, Implementation of Embedded Digital Controller and Testing of a Biomechatronic Device for Robotic Rehabilitation,” Mechatronics, vol. 52, pp. 70-77, June 2018. https://doi.org/10.1016/j.mechatronics.2018.04.006
[29] Y. Wang and Q. Xu, “Design and Testing of a Soft Parallel Robot based on Pneumatic Artificial Muscles for Wrist Rehabilitation,” Scientific Report, vol. 11, p. 1273, January 2021. https://doi.org/10.1038/s41598-020-80411-0
[30] H. T. Nguyen, V. C. Trinh, and T. D. Le, “An Adaptive Fast Terminal Sliding Mode Controller of Exercise-Assisted Robotic Arm for Elbow Joint Rehabilitation Featuring Pneumatic Artificial Muscle Actuator,” Actuators, vol. 9, no. 4, p. 118, November 2020. https://doi.org/10.3390/act9040118
[31] A. Capace, L. Randazzini, C. Cosentino, M. Romano, A. Merola, and F. Amato, "Design, Realization and Experimental Characterisation of a Controllable-Compliance Joint of a Robotic Exoskeleton for Assist-As-Needed Rehabilitation," 2020 IEEE International Symposium on Medical Measurements and Applications, 2020, pp. 1-6. https://doi.org/10.1109/MeMeA49120.2020.9137142
[32] S. Niku, Introduction to Robotics. New Jersey: Prentice-Hall, 2001. https://books.google.co.in/books?id=dMFADQEACAAJ&source=gbs_navlinks_s
Refbacks
- There are currently no refbacks.
Copyright (c) 2021 Sa’aadat Syafeeq Lone, Norsinnira Zainul Azlan, Norhaslinda Kamarudzaman
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
| About the Journal | Journal Policies | Author | Information |
International Journal of Robotics and Control Systems
e-ISSN: 2775-2658
Website: https://pubs2.ascee.org/index.php/IJRCS
Email: ijrcs@ascee.org
Organized by: Association for Scientific Computing Electronics and Engineering (ASCEE), Peneliti Teknologi Teknik Indonesia, Department of Electrical Engineering, Universitas Ahmad Dahlan and Kuliah Teknik Elektro
Published by: Association for Scientific Computing Electronics and Engineering (ASCEE)
Office: Jalan Janti, Karangjambe 130B, Banguntapan, Bantul, Daerah Istimewa Yogyakarta, Indonesia