Adjustable Stiffness-Based Supination–Pronation Forearm Physical Rehabilitator
Source abstract
Abstract
This paper reports a new medical device together with a control strategy that focuses on the following tasks: (1) a trajectory tracking problem associated with the supination–pronation motion of the wrist–forearm for purposes of rehabilitation and (2) the adjustment of the system’s stiffness associated with the applied torque guaranteeing the angular motion of the rehabilitator as well as the resistance that potential users must overcome. These two tasks are oriented to regain the range of motion (ROM) of the wrist–forearm and to improve the strength of the associated muscles. It is worth mentioning that this device has not been clinically validated. However, the performance of the closed-loop medical device is validated with preliminary experiments with a healthy subject based on movement patterns involving passive, assisted-resisted, and active phases of rehabilitation protocols.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Stroke Rehabilitation and Recovery · Muscle activation and electromyography studies · Cerebral Palsy and Movement Disorders
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Faculty of Engineering, Universidad Autonoma del Estado de México, Toluca 50130, Mexico
Department of Automatic Control, CINVESTAV-IPN, Av. Instituto Politécnico Nacional 2508, Mexico City 07360, Mexico
Programa Investigadoras e Investigadores por México del CONACYT, Av. Insurgentes Sur 1582, Col. Crédito Constructor, Alcaldía Benito Juárez, Mexico City 03940, Mexico
Funding
CONACYT
References (45)
Show source-provided references
1. INEGI (2021, December 29). Estadísticas a Propósito del día Internacional de las Personas con Discapacidad, Available online: https://www.inegi.org.mx/contenidos/saladeprensa/aproposito/2019/Discapacidad2019_Nal.pdf.
2. Attributing causes to disability10.1007/978-3-030-37668-0_6 ↗
3. ATrain Education (2022, May 18). Regaining Use of the Upper Extremity. Available online: https://www.atrainceu.com/content/13-regaining-use-upper-extremity.
4. Kennedy Krieger Institute (2022, May 17). Neurodevelopmental Treatment in Physical Therapy. Available online: https://www.kennedykrieger.org/patient-care/centers-and-programs/physical-therapy-clinic/neurodevelopmental-treatment.
5. Canadian Partnership for Stroke Recovery (2022, May 17). Upper Extremity Motor Rehabilitation Interventions. Available online: http://www.ebrsr.com/sites/default/files/ch%2010_v19.pdf.
6. Development of robot-based upper limb devices for rehabilitation purposes: A systematic review10.1007/s41133-020-00043-x ↗
7. World Health Organization (2011). World Report on Disability, World Health Organization.
8. The value of robotic systems in stroke rehabilitation10.1586/17434440.2014.882766 ↗
9. Nef, T., Klamroth-Marganska, V., Keller, U., and Riener, R. (2016). Three-dimensional multi-degree-of-freedom arm therapy robot (ARMin). Neurorehabilitation Technology, Springer.10.1007/978-3-319-28603-7_17 ↗
10. Hand robotics rehabilitation: Feasibility and preliminary results of a robotic treatment in patients with hemiparesis
11. Clinical designs of recent robot rehabilitation trials10.1097/PHM.0b013e31826bcfa3 ↗
12. Effects of upper limb robot-assisted therapy on motor recovery in subacute stroke patients10.1186/1743-0003-11-104 ↗
13. Rehabilitation of motor function after stroke: A multiple systematic review focused on techniques to stimulate upper extremity recovery10.3389/fnhum.2016.00442 ↗
14. Effects of robot-assisted upper limb rehabilitation in stroke patients: A systematic review with meta-analysis10.1007/s10072-017-2995-5 ↗
15. An orthopaedic robotic-assisted rehabilitation method of the forearm in virtual reality physiotherapy
16. Impedance control of an intrinsically compliant parallel ankle rehabilitation robot10.1109/TIE.2016.2521600 ↗
17. Robot-assisted therapy in upper extremity hemiparesis: Overview of an evidence-based approach10.3389/fneur.2019.00412 ↗
18. UN (2021, December 05). Transforming Our World: The 2030 Agenda for Sustainable Development. Available online: https://www.un.org/ga/search/viewdoc.asp?symbol=A/RES/70/1&Lang=E.
19. Verl, A., Albu-Schäffer, A., Brock, O., and Raatz, A. (2015). Soft Robotics, Springer.10.1007/978-3-662-44506-8 ↗
20. Variable stiffness actuators: Review on design and components10.1109/TMECH.2015.2501019 ↗
21. Motro, R. (2003). Tensegrity: Structural Systems for the Future, Elsevier.10.1016/B978-190399637-9/50038-X ↗
22. Jung, E., Ly, V., Cessna, N., Ngo, M.L., Castro, D., SunSpiral, V., and Teodorescu, M. (2018, January 21–25). Bio-inspired tensegrity flexural joints. Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia.10.1109/ICRA.2018.8461027 ↗
23. A soft exosuit for flexible upper-extremity rehabilitation10.1109/TNSRE.2018.2854219 ↗
24. Gosselin, C., Cardou, P., Bruckmann, T., and Pott, A. (2017). Cable-Driven Parallel Robots: Proceedings of the Third International Conference on Cable-Driven Parallel Robots, Springer.10.1007/978-3-319-61431-1 ↗
25. Design and analysis of a cable-driven articulated rehabilitation system for gait training10.1115/1.4032274 ↗
26. From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism10.1016/j.mechmachtheory.2016.09.015 ↗
27. A Portable Elbow Exoskeleton for Three Stages of Rehabilitation10.1115/1.4044535 ↗
28. (2019, May 29). Medical Dictionary. Available online: http://medical-dictionary.thefreedictionary.com/.
29. Robot-aided neurorehabilitation10.1109/86.662623 ↗
30. Charles, S.K., Krebs, H.I., Volpe, B.T., Lynch, D., and Hogan, N. (July, January 28). Wrist rehabilitation following stroke: Initial clinical results. Proceedings of the 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005, Chicago, IL, USA.
31. Pehlivan, A.U., Celik, O., and O’Malley, M.K. (July, January 29). Mechanical design of a distal arm exoskeleton for stroke and spinal cord injury rehabilitation. Proceedings of the 2011 IEEE International Conference on Rehabilitation Robotics, Zurich, Switzerland.10.1109/ICORR.2011.5975428 ↗
32. Allington, J., Spencer, S.J., Klein, J., Buell, M., Reinkensmeyer, D.J., and Bobrow, J. (September, January 30). Supinator Extender (SUE): A pneumatically actuated robot for forearm/wrist rehabilitation after stroke. Proceedings of the 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, MA, USA.10.1109/IEMBS.2011.6090459 ↗
33. Martinez, J.A., Ng, P., Lu, S., Campagna, M.S., and Celik, O. (2013, January 24–26). Design of wrist gimbal: A forearm and wrist exoskeleton for stroke rehabilitation. Proceedings of the 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), Seattle, WA, USA.10.1109/ICORR.2013.6650459 ↗
34. Design and validation of the RiceWrist-S exoskeleton for robotic rehabilitation after incomplete spinal cord injury10.1017/S0263574714001490 ↗
35. Implementation of resistance training using an upper-limb exoskeleton rehabilitation device for elbow joint10.5405/jmbe.1337 ↗
36. Pezent, E., Rose, C.G., Deshpande, A.D., and O’Malley, M.K. (2017, January 17–20). Design and characterization of the openwrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation. Proceedings of the 2017 International Conference on Rehabilitation Robotics (ICORR), London, UK.10.1109/ICORR.2017.8009333 ↗
37. Andrews, J.R., Harrelson, G.L., and Wilk, K.E. (2012). Physical Rehabilitation of the Injured Athlete: Expert Consult-Online and Print, Elsevier Health Sciences.
38. Kisner, C., Colby, L.A., and Borstad, J. (2017). Therapeutic Exercise: Foundations and Techniques, Fa Davis.
39. Wilk, K.E., Ellenbecker, T.S., and Macrina, L.C. (2021). Rehabilitation of the overhead athlete’s elbow. Elbow Ulnar Collateral Ligament Injury, Springer.10.1007/978-3-030-69567-5_35 ↗
40. Giangarra, C.E., and Manske, R.C. (2017). Clinical Orthopaedic Rehabilitation: A Team Approach E-book, Elsevier Health Sciences.
41. Avila-Chaurand, R., Prado-León, L., and González-Muñoz, E. (2007). Dimensiones Antropométricas de la Población Latinoamericana: México, Cuba, Colombia, Chile / R. Avila Chaurand, L.R. Prado León, E.L. González Muñoz., Universidad de Guadalajara.
42. Tsagarakis, N., Caldwell, D., and Medrano-Cerda, G. (1999, January 27–29). A 7 DOF pneumatic muscle actuator (pMA) powered exoskeleton. Proceedings of the 8th IEEE International Workshop on Robot and Human Interaction. RO-MAN’99 (Cat. No. 99TH8483), Pisa, Italy.
43. Sistema para control de posición basado en Rapid Control Prototyping (RCP) usando Simulink y SWB32
44. Sliding Mode Control for the Regulation Problem of an Aerodynamic Angular System: Experimental Platform and Validation10.1007/s12555-020-0128-z ↗
45. STMicroelectronics (2021, January 18). NUCLEO-F767ZI. Available online: https://www.st.com/en/evaluation-tools/nucleo-f767zi.html.