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Quantitative Progress Evaluation of Post-stroke Patients Using a Novel Bimanual cable-driven Robot

Journal of Bionic Engineering 2021年第6期18卷 1331-1343页

作者： Thiago Alves Rogério Sales Gonçalves Giuseppe Carbone Laboratory of Automation and Robotics School of Mechanical EngineeringFederal University of UberlândiaUberlândia38400-902Brazil Department of Mechanical Energy and Management EngineeringUniversity of Calabria87036RendeItaly

Rehabilitation is the most effective way to reduce motor impairments in post-stroke patients.This process demands several hours with a specialized therapist.Given resources and personnel shortages,the literature reports a high interest in robotic assisted rehabilitation solutions.Recently,cable-driven robotic architectures are attracting significant research interest for post-stroke rehabilitation.However,the existing cable-driven robots are mostly unilateral devices allowing the rehabilitation only of the most affected limb.This leaves unaddressed the rehabilitation of bimanual activities,which are predominant within the common Activities of Daily Living(ADL).Thus,this paper presents a specific novel design to achieve bimanual rehabilitation tasks that has been named as BiCAR robot.Specifically,this paper provides a full insight on the BiCAR system as well as on its dedicated developed software BiEval.In particular,BiEval software has been developed as based on a serious game strategy and a virtual reality environment to track the patient exercising duration,motion ranges,speeds,and forces over time for achieving a quantitative assessment of the rehabilitation progress.Finally,the paper presents the BiCAR/BiEval capabilities by referring to a pilot Randomized Controlled Trial(RCT).The clinical trials have been used to validate the BiCAR/BiEval in terms of engineering feasibility and user acceptance to achieve an innovative cost-oriented integrated hardware/software device for the bimanual assistive rehabilitation of post-stroke patients.

关键词： cable-driven robots Low cost Stroke rehabilitation Bimanual Progress tracking Serious games

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Design Study of a cable-based Gait Training Machine

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Journal of Bionic Engineering 2017年第2期14卷 232-244页

作者： Houssein Lamine Med Amine Laribi Sami Bennour Lotfi Romdhane Said Zeghloul Mechanical Laboratory of Sousse (LMS) National Engineering School of Sousse University of Sousse Sousse 4000 Tunisia Department of GMSC Pprime Institute CNRS ENSMA University of Poitiers UPR 3346 France Mechanical Engineering Department American University of Sharjah PO Box 26666 Sharjah United Arab Emirates

This paper deals with a design approach of a gait training machine based on a quantitative gait analysis. The proposed training machine is composed of a body weight support device and a cable-driven parallel robot. This paper is focused on the cable-driven robot, which controls the pose of the lower limb through an orthosis placed on the patient＇s leg. The cable robot reproduces a normal gait movement through the motion of the orthosis. A motion capture system is used to perform the quantitative analysis of a normal gait, which will be used as an input to the inverse dynamic model of the cable robot. By means of an optimization algorithm, the optimal design parameters, which minimize the tensions in the cables, are determined. Two constraints are considered, i.e., a non-negative tension in the cables at all times, and a free cable/end-effector collision. Once the optimal solution is computed, a power analysis is carried out in order to size the robot actuators. The proposed approach can be easily extended for the design study of a similar type of cable robots.

关键词： gait rehabilitation cable-driven robots body weight support system design optimization

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