Department of Mechanical Engineering, Indian Institute of Technology Ropar, Rupnagar, India.
Disabil Rehabil Assist Technol. 2024 Jan;19(1):139-153. doi: 10.1080/17483107.2022.2071486. Epub 2022 May 12.
Enormous assistance is required during rehabilitation activities, which might result in a variety of complications if performed manually. To solve this issue, several solutions in the form of assistive devices have been presented recently. Another issue highlighted is the lack of kinematic compatibility in low degrees-of-freedom (dof) systems. The proposed approach of developing a human-motion-oriented rehabilitation device deals with the problem through hybrid architectures. A novel modular synthesis approach is used for the purpose to induce generality in the design process.
Using a modular strategy, three planar hybrid configurations are generated for two-dof mechanisms for supporting flexion/extension motion. Three such architectures are optimally synthesised and kinematically analysed over the entire workspace. A Genetic Algorithm (GA) is used to synthesise the architecture parameters optimally. Moreover, the outcomes are evaluated against a set of seven poses and posture locations of the wrist to choose the most suitable configuration among the others. Subsequently, kinematic compatibility is analysed for the coupled system - formed by the selected architecture and the human arm - while wearing the proposed mechanism.
According to the findings of optimal synthesis, workspace and singularity analysis, configuration-III is capable of achieving the optimal postures for all task space locations (TSLs). Further, the work modifies the design by attaching additional three revolute passive joints for correcting misalignment concerns using coupled mobility analysis.
The modular strategy for hybrid architectures and the subsequent mobility analysis provides an algorithmic framework for synthesising a task-based rehabilitation device.IMPLICATIONS OF REHABILITATIONManual physiotherapy is reported as repeated task, expensive and time-consuming, and considered stressful for the therapist or assistants to provide one-on-one physiotherapy to each patient in the traditional method. Robotic rehabilitation is, therefore, a viable option.In the several reported works on robotic rehabilitation exoskeletons, misalignment of the exoskeleton and the human motion is considered an open challenge. Normally, it is being managed through large number of degrees of freedom, which is certainly expensive and complex in control. The proposed approach of developing a human-motion-oriented rehabilitation device deals with the problem through hybrid architectures and modular strategy to develop them.While focusing upon the emulation of natural human motion trajectory, the compatibility of orthotic joint and human joint motion needs attention. As biological joint possesses complex kinematic characteristics, closed-loops are used in the design.Overall, a complete framework of a cost effective low-dof rehabilitation device is proposed and detailed through coupled analysis.
康复活动需要大量的辅助，手动操作可能会导致各种并发症。为了解决这个问题，最近提出了一些辅助设备的解决方案。另一个突出的问题是低自由度（dof）系统中缺乏运动学兼容性。所提出的开发面向人体运动的康复设备的方法通过混合架构来解决这个问题。为了在设计过程中引入通用性，使用了一种新的模块化综合方法。
使用模块化策略，为支持弯曲/伸展运动的两自由度机构生成了三个平面混合配置。对这三种结构进行了最优综合，并在整个工作空间内进行了运动学分析。使用遗传算法（GA）对结构参数进行了最优合成。此外，还针对手腕的七个姿势和位置对结果进行了评估，以在其他配置中选择最合适的配置。然后，分析了所选结构与佩戴所提出机构的人体手臂组成的耦合系统的运动学兼容性。
根据最优合成、工作空间和奇异点分析的结果，构型 III 能够在所有任务空间位置（TSL）实现最佳姿势。此外，该工作通过附加三个附加的旋转被动关节来修改设计，以使用耦合可动性分析来纠正对准问题。
混合架构的模块化策略和随后的可动性分析为基于任务的康复设备的合成提供了算法框架。
据报道，手动物理疗法是一种重复的任务，昂贵且耗时，并且在传统方法中，治疗师或助手一对一地为每个患者提供物理疗法被认为是有压力的。因此，机器人康复是一种可行的选择。在机器人康复外骨骼的几项报道工作中，外骨骼和人体运动的对准被认为是一个开放的挑战。通常，它是通过大量自由度来管理的，这在控制方面肯定是昂贵且复杂的。所提出的开发面向人体运动的康复设备的方法通过混合架构和模块化策略来解决这个问题。
在关注于模拟自然人体运动轨迹的同时，需要注意矫形关节和人体关节运动的兼容性。由于生物关节具有复杂的运动学特性，因此在设计中使用了闭环。
总的来说，提出了一种具有成本效益的低自由度康复设备的完整框架，并通过耦合分析进行了详细说明。
