Lorenzo Bartalucci
ABSTRACT
The number of Years Lived with Disability (YLDs) is growing at an impressive pace under the aging global population's push. Consequently, the demand for innovative therapies and solutions to improve the quality of life of disabled people is rising. Robots are making their way into the clinical sector to provide high-intensity rehabilitation exercises or assistance while monitoring quantitative metrics for tracking the patients' status evolution. Exoskeletons are among the most studied and most interesting embodiments of today's robotic technologies. This paper investigates an innovative design concept for a rehabilitative Hand Exoskeleton System (HES) driven by a Remote Actuation System (RAS). The discussion starts from the characteristics of a previously built prototype and focuses on using finite element analysis, topological optimization techniques, and 3D-printing-oriented design to minimize the system's weight and complexity while assuring adequate performance to be effective in rehabilitation. The text will present, in sequence: the main features of the starting prototype; the preliminary design of the new exoskeleton; a detailed dynamic analysis of the finger mechanisms composing it; the final topologically optimized design; and, finally, the evaluation of the result of the redesign process.
- World Health Organization and others;, «Depression and other common mental disorders: global health estimates,» 2017.Google Scholar
- P. S. Lum, S. B. Godfrey, E. B. Brokaw, R. J. Holley e D. Nichols, «Robotic approaches for rehabilitation of hand function after stroke,» American Journal of Physical Medicine & Rehabilitation, vol. 91, n. 11, pp. 242-254, 2012.Google Scholar
- C. Bütefisch, H. Hummelsheim, P. Denzler e K.-H. Mauritz, «Repetitive training of isolated movements improves the outcome of motor rehabilitation of the centrally paretic hand,» Journal of the Neurological sciences, vol. 130, pp. 59-69, 1995.Google Scholar
- M. K. Holden, «Virtual Environments for Motor Rehabilitation: Review,» CyberPsychology & Behavior, vol. 8, n. 3, pp. 187-211, 2005.Google Scholar
- M. Malvezzi, T. L. Baldi, A. Villani, F. Ciccarese e D. Prattichizzo, «Design, development, and preliminary evaluation of a highly wearable exoskeleton,» in 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Virtual Conference, 2020.Google Scholar
- J. Arata, K. Ohmoto, R. Gassert, O. Lambercy, H. Fujimoto e I. Wada, «A new han exoskeleton device for rehabilitation using a three-layered sliding spring mechanism,» in 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013.Google Scholar
- E. B. Brokaw, I. Black, R. J. Holley e P. S. Lum, «Hand Spring Operated Movement ENhancer (HandSOME): A Portable, Passive Hand Exoskeleton for Stroke Rehabilitation,» IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, vol. 19, n. 4, pp. 391-399, 2011.Google Scholar
- F. Zhang, L. Hua, Y. Fu, H. Chen e S. Wang, «Design and development of a hand exoskeleton for rehabilitation of hand injuries,» Mechanism and Machine Theory, vol. 73, pp. 103-116, 2014.Google Scholar
- U. Satoshi, K. Haruhisa, I. Satoshi, N. Yutaka, A. Motoyuki, A. Takaaki, I. Yasuhiko, O. Takeo e M. Tetsuya, «Development of a hand-assist robot with multi-degrees-of-freedom for rehabilitation therapy,» IEEE/ASME Transactions on mechatronics, vol. 17, n. 1, pp. 136-146, 2010.Google Scholar
- C. Schabowsky, S. B. Godfrey, R. J. Holley e P. S. Lum, «Development and pilot testing of HEXORR: hand EXOskeleton rehabilitation robot,» Journal of neuroengineering and rehabilitation, vol. 7, n. 1, pp. 1-16, 2010.Google Scholar
- H. K. Yap, J. H. Lim, F. Nasrallah, J. C. Goh e R. C. Yeow, «A soft exoskeleton for hand assistive and rehabilitation application using pneumatic actuators with variable stiffness,» in 2015 IEEE international conference on robotics and automation (ICRA), IEEE, 2015, pp. 4967-4972.Google Scholar
- A. P. Tjahyono, K. C. Aw, H. Devaraj, W. Surendra, E. Haemmerle e J. Travas-Sejdic, «A five-fingered hand exoskeleton driven by pneumatic artificial muscles with novel polypyrrole sensors,» Industrial Robot: An International Journal, 2013.Google Scholar
- J. Li, R. Zheng, Y. Zhang e J. Yao, «iHandRehab: An interactive hand exoskeleton for active and passive rehabilitation,» in 2011 IEEE International Conference on Rehabilitation Robotics, IEEE, 2011, pp. 1-6.Google Scholar
- Y. Yun, P. Agarwal, J. Fox, K. E. Madden e A. D. Deshpande, «Accurate torque control of finger joints with UT hand exoskeleton through Bowden cable SEA,» in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2016, pp. 390-397.Google Scholar
- A. Wege, K. Kondak e G. Hommel, «Mechanical design and motion control of a hand exoskeleton for rehabilitation,» IEEE International Conference Mechatronics and Automation, 2005, vol. 1, pp. 155-159, 2005.Google Scholar
- L. Bartalucci, N. Secciani, J. Gelli, A. Della Valle, A. Ridolfi e B. Allotta, «Rehabilitative Hand Exoskeleton System: A New Modular Mechanical Design for a Remote Actuated Device,» The International Conference of IFToMM ITALY, pp. 128-136, 2020.Google Scholar
- N. Secciani, M. Bianchi, A. Meschini, A. Ridolfi, Y. Volpe, L. Governi, B. Allotta, «Assistive hand exoskeletons The prototypes evolution at the university of Florence (2018) », Mechanisms and Machine Science, 68, pp. 307-315Google ScholarCross Ref
- M.Bianchi, N. Secciani, A. Ridolfi, F. Vannetti, G. Pasquini, « Kinematics-based strategy for the design of a pediatric hand exoskeleton prototype», (2019) Mechanisms and Machine Science, 68, pp. 501-508.Google Scholar
- M. Bianchi, F. Fanelli, E. Meli, A. Ridolfi, F. Vannetti, M. Bianchini e B. Allotta, «Optimization-based scaling procedure for the design of fully portable hand exoskeletons,» Meccanica, vol. 53, n. 11, pp. 3157-3175, 2018.Google Scholar
- E. Pennestrì, Dinamica Tecnica e Computazionale Vol.2, Milano: Casa Editrice Ambrosiana, 2002.Google Scholar
Recommendations
Development of an EMG controlled hand exoskeleton for post-stroke rehabilitation
REHAB '15: Proceedings of the 3rd 2015 Workshop on ICTs for improving Patients Rehabilitation Research TechniquesRehabilitation after stroke is of crucial importance since patients often have severe motor impairments that affect their daily activities. In the past decades, a number of robotic systems have been proposed for stroke rehabilitation but very few of ...
Design and characterization of a lightweight underactuated RACA hand exoskeleton for neurorehabilitation
AbstractThe spread of the use of robotic devices in neuro-rehabilitation therapies requires the availability of lightweight, easy-to-use, cost-effective and versatile systems. RobHand has been designed with these goals in mind. It is a hand ...
Highlights- Underactuation allows reducing weight and costs in exoskeletons for neuromotor hand rehabilitation.
A Novel 10-DoF Exoskeleton Rehabilitation Robot Based on the Postural Synergies of Upper Extremity Movements
ICIRA 2013: Proceedings of the 6th International Conference on Intelligent Robotics and Applications - Volume 8102Muscular and postural synergies are the major embodiments of motor coordination of the human's limbs. Muscular and postural synergies analyses are widely employed in clinical evaluation, control of multi-DOF prosthesis and mechanical design of ...
Comments