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Multivariate analysis of the kinematics of an upper limb rehabilitation robot.
Sobiech, Mariusz; Michnik, Andrzej; Chuchnowska, Iwona; Karpiel, Ilona; Wolanski, Wojciech.
Afiliación
  • Sobiech M; 1Lukasiewicz Research Network - Krakow Institute of Technology, Zabrze, Poland.
  • Michnik A; 2Department of Biomechatronics, Silesian University of Technology, Zabrze, Poland.
  • Chuchnowska I; 3PhD School, Silesian University of Technology, Gliwice, Poland.
  • Karpiel I; 1Lukasiewicz Research Network - Krakow Institute of Technology, Zabrze, Poland.
  • Wolanski W; 2Department of Biomechatronics, Silesian University of Technology, Zabrze, Poland.
Acta Bioeng Biomech ; 26(1): 55-66, 2024 Jun 01.
Article en En | MEDLINE | ID: mdl-39219081
ABSTRACT

Purpose:

The purpose of this work is to present a multivariate analysis of the kinematics of an upper limb rehabilitation robot. Comparing multiple concepts of kinematic chains makes it possible to identify advantages and disadvantages and, as a consequence, choosing the optimal solution to create a physical device. Such actions shall contribute towards automation of the rehabilitation process, bringing benefits to both therapists and patients in comparison with conventional rehabilitation.

Methods:

Multivariate analysis of kinematics was performed on the basis of three concepts of the kinematic chain of an exoskeleton, enabling the rehabilitation of both right and left upper limb within the area of the shoulder joint, elbow joint and wrist. The kinematic chain allows the performance of simple and complex movements.

Results:

The results of the conducted multivariate kinematic analysis define specific movements and angular ranges, which may be performed while applying one of the proposed concepts of the robot design. The results made it possible to determine the optimum solution to the kinematic diagram and construction design, which best satisfy the expectations for effective rehabilitation.

Conclusions:

The analysis of the kinematic diagram concept of the exoskeleton should be done in relation to its design (construction form). Considering the obtained parameters, it is necessary to find an optimum concept and wisely manoeuvre the values, in order to avoid a situation in which one significant parameter influences another, equally important one. It is noteworthy that the introduction of changes into particular segments of the kinematic chain often has a significant impact on other segments.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Robótica / Extremidad Superior Límite: Humans Idioma: En Revista: Acta Bioeng Biomech Asunto de la revista: ENGENHARIA BIOMEDICA / FISIOLOGIA Año: 2024 Tipo del documento: Article País de afiliación: Polonia Pais de publicación: Polonia
Texto completo
Añadir a Mi BVS
Imprimir
XML
PubMed Links
Buscar en Google

Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Robótica / Extremidad Superior Límite: Humans Idioma: En Revista: Acta Bioeng Biomech Asunto de la revista: ENGENHARIA BIOMEDICA / FISIOLOGIA Año: 2024 Tipo del documento: Article País de afiliación: Polonia Pais de publicación: Polonia