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CHAPTER-1
INTRODUCTION
1.1 NEUROREHABILITATION ROBOT
Neurorehabilitation is a complex medical process which aims to aid recovery from a
nervous systeminjury, and to minimize and/or compensate for any functional alterations
resulting from it. Among many types of neurorehabilitation robots, there is a recent trend of
highlighting exoseleton robots because of the following advantages of over !nd "!ffector
#!!$ type robots. %wing to the close alignment of anatomical axes of the exoseleton robot,
all the human arm joints angles and tor&ues can be directly measured and individually
controlled and also computing the joint tor&ues. 'he relation between the joint angle and
tor&ue #i.e. the impedance or stiffness$ can be directly computed. (sing other type robots,
one cannot obtain elbow, wrist angles, tor&ues and impedance simultaneously. 'he )ange of
*otion #)%*$ with exoseleton robots might be larger than that with !! type robots.
+iagnosis, physical therapy and outcome evaluation are important and essential steps
of rehabilitation and are thus preferred to be integrated for effective treatment of complex
neurological impairments. %n the other hand, passive stretching reduce the joint/muscle
stiffness and to increase the muscle strength, and active movement training to recover the
motor functions. 'he existing robots have been used to evaluate the impairments post stroe
and the therapy on a single joint. or clinicians, it is infeasible to diagnose the changes in the
many +%s and joints simultaneously and &uantitatively. 'hus to aid clinicians in planning
therapy by providing *-*+ diagnosis of passive/active impairments, a rehabilitation robot
with comprehensive measurements of relevant *-*+ variables is used.
http://en.wikipedia.org/wiki/Nervous_systemhttp://en.wikipedia.org/wiki/Nervous_system -
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1.2 INTEGRATED CAPABILITIES
Fig 1.1!ssential teps of Neurorehabilitation
0uantitative, objective and comprehensive *-*+ preevaluation capabilities aiding
diagnosis for individual patients.
trenuous and safe passive stretching of deformed arm for loosening up
muscles/joints based on the robotaided diagnosis.
Active movement training after the passive stretching for improving motor control
ability.
0uantitative and comprehensive outcome evaluation at the level of individual joints,
multiple joints.
2re !valuation
2assive tretching
Active *ovement 'raining
%utcome !valuation
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CHAPTER-2
LITERATURE REVIEW
Robust I!"ti#i$%tio" o# &u'ti-(oi"t Hu)%" A*) I)+!%"$! B%s! O"
D,"%)i$s D!$o)+ositio" A &o!'i"g Stu,
*ultijoint/*ulti+egree of reedom #+%$ human arm impedance estimation is
important in many disciplines. 4owever, as the number of joints/+%s increases, it may
become intractable to identify the system reliably. A robust, unbiased and tractable estimation
method based on a systematic dynamics decomposition, which decomposes a *ulti5nput*ulti%utput #*5*%$ system into multiple ingle5nput *ulti%utput #5*%$ subsystems,
is developed. Accuracy and robustness of the new method were validated through a human
arm and a +% exoseleton robot simulation with various magnitudes of sensor resolution
and nonlinear friction. 'he approach can be similarly applied to identify more sophisticated
systems with more joints/+%s involved.
A Robot #o* P%ti!"t-Coo+!*%ti! A*) T/!*%+,
'his paper presents a new method of trajectory planning in rehabilitation robotics.
irst were measured in healthy subject the pic to place trajectories while haptic robot is in
zero impedance space. 6spline approximation is used to mathematically define the measured
paths. 'his trajectory path serves as a central line for the rounding haptic tunnel. 5n addition
to radial elastic and damping force an optional guidance force can be applied along the tunnel
to reach the place point. 'he 6spline control points were observed around the robot and arm
worspace. 'he trajectory path defined with 6splines is compared with minimum jer and
minimum tor&ue defined trajectories. inally are compared the pic to place movements with
and without tunnel use in healthy subject and in stroe hemiplegic patient .
Sto$/%sti$ Esti)%tio" o# Hu)%" A*) I)+!%"$! u"!* No"'i"!%* F*i$tio"
i" Robot (oi"ts A &o!' Stu,
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'he basic assumption of stochastic human arm impedance estimation methods is that
the human arm and robot behave linearly for small perturbations. 5n the present wor, we
have identified the degree of influence of nonlinear friction in robot joints to the stochastic
human arm impedance estimation. 5nternal *odel 6ased 5mpedance 8ontrol #5*658$ is then
proposed as a means to mae the estimation accurate by compensating for the nonlinear
friction. rom simulations with a nonlinear 9ugre friction model, it is observed that the
reliability and accuracy of the estimation are severely degraded with nonlinear friction:
below 4z, multiple and partial coherence functions are far less than unity; estimated
magnitudes and phases are severely deviated from that of a real human arm throughout the
fre&uency range of interest; and the accuracy is not enhanced with an increase of magnitude
of the force perturbations. 5n contrast, the combined use of stochastic estimation and 5*658provides with accurate estimation results even with large friction: the multiple coherence
functions are larger than
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Sto$/%sti$ Esti)%tio" o# A*) &!$/%"i$%' I)+!%"$! u*i"g Roboti$
St*o! R!/%bi'it%tio"
'his paper presents a stochastic method to estimate the multijoint mechanical
impedance of the human arm suitable for use in a clinical setting, e.g., with persons with
stroe undergoing robotic rehabilitation for a paralyzed arm. 5n this context, special
circumstances such as hyper tonicity and tissue atrophy due to disuse of the hemiplegic limb
must be considered. A lowimpedance robot was used to bring the upper limb of a stroe
patient to a test location, generate force perturbations, and measure the resulting motion.
*ethods were developed to compensate for input signal coupling at low fre&uencies
apparently due to humanmachine interaction dynamics. +ata was analyzed by spectral
procedures that mae no assumption about model structure. 'he method was validated by
measuring simple mechanical hardware and results from a patients hemiplegic arm are
presented.
Usi"g So$i%'', Assisti! Roboti$s to Aug)!"t &oto* T%s P!*#o*)%"$! i"
I"iiu%'s Post0St*o!
'his paper presents an application of a socially assistive robotics system to handsoffpost"stroe rehabilitation. >e validate the technical feasibility and efficiency of our system
in guiding, motivating, and administering an upper extremity rehabilitation tas. 'he robot,
which consists of a humanoid torso on a mobile base, monitors user performance on a wire
puzzle tas through a wearable inertial measurement unit and signals from the puzzle.
moothness of stroeaffected limb movement is used as the evaluation metric. ive adults of
mild to moderate functional ability in the chronic phase of stroe recovery interacted with
our system over three separate days.
CHAPTER-
S3STE& DESCRIPTION
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.1 ÐODS USED IN NEUROREHABILITATION S3STE&
.1.1 I"t!''iA*) A" U++!* Li)b E4os!'!to" Robot Fo*
N!u*o*!/%bi'it%tio"
5t was developed for clinicians to aid diagnosis and outcome evaluation as well as to
*-*+ assist physical therapy based on the robot aided diagnosis. or preevaluation,
physical therapy, and outcome evaluation the subject #forearm, hand$ were strapped to the
corresponding braces of the intelliarm mechanical axes.
'he intelliarm can independently control the following +%s of human arm: elbow
lexion!xtension #l!x$ in horizontal plane, forearm 2ronation"upination #2ru$ and
wrist l!x. !ach +% is driven by a servomotor placed on the corresponding human arm
joint axis.
ince stroe survivors often develop pronation deformity of the forearm, it is
important to control and move the forearm in a proper range of pronation. or the controlled
movement of forearm a servo motor is used. 'he maximum output tor&ue and speed of
forearm driving system is 1
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'he *-*+ neuromechanical changes associated with the arm impairment post stroe
were characterized systematically by *-*+ stiffnessthe individual joints stiffness and
crosscoupled stiffness between joints/+%s "during controlled passive movements and loss
of individuation during the active movement.
Fig .1'ypical angleresistance tor&ue curve
5n the passive mode of operation to minimize reflex contributions and manifest the
passive mechanical changes of muscles/joints, the intelliarm passively moved one targeted
joint/+%s at a time #ig 3.1$ among the controlled +%s of the subjectDs arm throughout its
)%* with a controlled speed and cycles, until its joint/+% )',*res,reached its pre
specified 2ositive pea )'#2)'$,*p, or negative )' ,*n ,#path 1 and 3 in fig3.1$;and if
*res reached wither *p or *n, then the movement direction was reversed after few seconds.
'he 2)%* of the targeted joint/+% was determined from the measured *res and
angle , of the targeted joint/+%. 6ecause of the hysteresis loop consist of two paths as
observed in the angle)' as follows: positive end of the 2)%* # pprm$ and negative end of
the 2)%* # nprm$ in fig 3.1. or each joint/+%, individual joint/+% stiffness at pprm
and nprm #Ep and En respectively in fig 3.1$ was then derived by computing the slope of
the curve.
.1. St*!"uous %" S%#! &u'ti-5oi"t I"t!''ig!"t St*!t$/i"g
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'he movement and control of the elbow, wrist joints are closely coupled, because of
dozens of muscles and other soft tissues crossing the joints, and some crossing multiple
joints. 'hus for effective treatment of arms with excessive couplings, the elbow, wrist should
be treated together in a wellcoordinated manner.
rom the robot"aided multijoint preevaluation aiding diagnosis, the joints/+%s
with increased individual joint/+% stiffness, excessive crosscoupled stiffness, large 8's,
and the associated arm postures were identified. 'he intelliArm then stretched either multiple
joints or +% simultaneously or a joint/+% individually in a safe manner by using the 5
to reduce increased stiffness values of the joints/+%s involved. 'he fingers are not directly
stretched, because of the possible coupling between the fingers and other joints.
.1.6 &u'ti-5oi"t A$ti! &o!)!"t T*%i"i"g
After the controlled stretching reduced the excessive individual joint/+% stiffness
and cross coupled stiffness, the neural command might be able to control the muscles better
and also to move the arm better.
+uring the active movement training, the intelliarm was made bacdrivable under
the 5*658 #5nternal *odel 6ased 5mpedance 8ontrol$. ubjects were able to move their arm
freely with the intelliarm to match or trac targetDs displayed on monitor.
.1.7 &u'ti+'! 5oi"t Robot Ai! Out$o)! E%'u%tio"s
'he outcome evaluation was performed in terms of the biomechanical properties and
motor "control ability induced by the passive stretching and active movement training at the
multiple joints involved.
5n the passive mode, the elbow, wrist of the impaired arm of patients was moved by
the intelliarm throughout the )%*s individually or simultaneously under precise control.
5n the active mode, the patients were ased to move one of the impaired joints /+%s
at a time and to move the multiple joints of the whole "arm simultaneously for functional
movements. 'he neuromechanical changes in the impaired arm after treatments were
evaluated using the data collected from the *-*+ passive and active movements.
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.2 BLOC8 DIAGRA& OF NEUROREHABILITATION
E9OS8ELTON ROBOT S3STE&
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1* sent to the motordetermines position of the shaft,
and based on the duration of the pulse sent via the control wire; the rotorwill turn to the
desired position. 'he servo motor expects to see a pulse every < milliseconds #ms$ and the
length of the pulse will determine how far the motor turns. or example, a 1.@ms pulse will
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mae the motor turn to the =
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'he patient is entered into the machine; his /her hand is strapped to the
corresponding braces of the machine arm. 'hen the switch is turned on and it re&uires the
inputs for operation. 'he operator enters the stroe values #elbow l!x, wrist l!x and
forearm 2ru$ to the system through the eypad. 'he inputs are entered then machine
starts to run in the prescribed time period or the number of cycles. 'his is the passive
mode of operation, it reduces the joint /muscle stiffness. >hen the passive mode is
completed the operator switches the machine in to active mode. 5n this mode the patient
tries to move the arm in the prescribed direction. 5t improves the muscle strength of the
arm and this movement is sensed by the force /tor&ue sensor. 'his information is sent to
the controller, and processed it .'he operation is continuously monitored by the controller
in real time and if either of them is out of its range, the whole system is then shut down. A
stop switch is given both to the operator and the patient to authorize them to shut down the
system at any time.
.2. S!*o )oto*
ervo motors have been around for a long time and are utilized in many applications.
'hey are small in size but pac a big punch and are very energyefficient. 6ecause of these
features, they can be used to operate remotecontrolled or radiocontrolled toy cars, robots
and airplanes ervo motors are also used in industrial applications, robotics, inline
manufacturing,pharmaceuticsand food services.
'he servo circuitry is built right inside the motor unit and has a positionable shaft,
which usually is fitted with a gear#as shown below$. 'he motor is controlled with an electric
signal which determines the amount of movement of the shaft.
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Fig .ervomotor
ervos are controlled by sending an electrical pulse of variable width, or 2ulse >idth
*odulation #2>*$, through the control wire. 'here is a minimum pulse, a maximum pulse,
and a repetition rate. A servo motor can usually only turns =< degrees in either direction for a
total of 1F< degree movement. 'he motors neutral position is defined as the position where
the servo has the same amount of potential rotation in the both the clocwise or counter
clocwise direction. 'he 2>* sent to the motordetermines position of the shaft, and based
on the duration of the pulse sent via the control wire; the rotorwill turn to the desired
position. 'he servo motor expects to see a pulse every < milliseconds #ms$ and the length of
the pulse will determine how far the motor turns. or example, a 1.@ms pulse will mae the
motor turn to the =idth >ave orm
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>hen these servos are commanded to move, they will move to the position and hold
that position. 5f an external force pushes against the servo while the servo is holding a
position, the servo will resist from moving out of that position. 'he maximum amount of
force the servo can exert is called the tor&ue rating of the servo. ervos will not hold their
position forever though; the position pulse must be repeated to instruct the servo to stay in
position.
.2.6 Li:ui C*,st%' Dis+'%, ;LCDTo*:u! S!"so*
orcesensing resistors consist of a conductive polymer,which changes resistance in
a predictable manner following application of force to its surface. 'hey are normally suppliedas a polymer sheet or inthat can be applied by screen printing. 'he sensing film consists of
both electrically conducting and nonconducting particles suspended in matrix. 'he particles
are submicrometer sizes, and are formulated to reduce the temperature dependence, improve
mechanical properties and increase surface durability. Applying a force to the surface of the
sensing film causes particles to touch the conducting electrodes, changing the resistance of
the film. As with all resistive based sensors, forcesensing resistors re&uire a relatively simple
interface and can operate satisfactorily in moderately hostile environments. 8ompared to
other force sensors, the advantages of )s are their size #thicness typically less than
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'or&ue is a twisting force, usually encountered on shafts, bars, pulleys, and similar
rotational devices. 5t is defined as the product of the force and the radius over which it acts. 5t
is expressed in units of weight, times, length, such as lb.ft. and Nm. Another way to
measure tor&ue is by way of twist angle measurement orphase shift measurement, whereby
the angle of twist resulting from applied tor&ue is measured by using two angular position
sensors and measuring the phase angle between them. inally, if the mechanical system
involves a right angle gearbox, then the axial reaction force experienced by the inputting
shaft/pinion can be related to the tor&ue experienced by the output shaft. 'he axial input
stress must first be calibrated against the output tor&ue. 'he input stress can be easily
measured via strain gage measurement of the input pinion bearing housing. 'he output tor&ue
is easily measured using a static tor&ue meter.
.2.? &o! S!'!$tio"
'here are two operating modes used in the system,
2assive stretching #passive mode$
Active training #active mode$
5n the passive mode of operation, machine arm drives the impairment arm in the
prescribed level of the input.
5n the active mode of operation, patient arm drives the machine arm .5n this mode the
patient arm tries to move #or apply forces to $the machine arm, and it is sensed by using some
force/tor&ue sensors .'his is the training mode of operation.
or mode selection a switch is used. 5t has two level ,high and low, high indicate in
the active mode and low indicate the passive mode. 'he default position of the switch is in
the passive mode. 'he operator changes the switch in passive mode or active mode.
http://en.wikipedia.org/w/index.php?title=Twist_angle_measurement&action=edit&redlink=1http://en.wikipedia.org/w/index.php?title=Phase_shift_measurement&action=edit&redlink=1http://en.wikipedia.org/w/index.php?title=Twist_angle_measurement&action=edit&redlink=1http://en.wikipedia.org/w/index.php?title=Phase_shift_measurement&action=edit&redlink=1 -
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. BLOC8 DIAGRA& OF THE &ODIFIED E9OS8ELTON S3STE&
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Fig .?6loc +iagram of the (ser 8ontrolled !xoseleton ystem
Fig .@28 with Application
..1 O+!*%tio" o# t/! Us!* Co"t*o''! E4os!'!to" S,st!)
'he bloc diagram of proposed system is shown in fig 3.@. 'he proposed system
consists of a voice control unit, Jbee units and )5+ that not present in the existing system.
As mentioned in the chapter 1, the present system needs an operator to provide the inputs to
the system and the user have no control in the system. 'hese two drawbacs are overcome in
the proposed system.
'o eliminate the need of an operator it provides a user id to every patient. >hen a
user login to the machine, a signal corresponding to this id is sent to the database of the
hospital or clinic through the Jbee unit. 'he database contains all the information about the
patients #preevaluated values$ .5f it is a valid id, and then informationDs corresponding to that
id is sent bac to the machine. 'hese values are loaded into the controller and machine starts
to run. 'he proposed system also provides a voice control to the user to set the number of
cycles of operation. 'he mode selection switch is used to select the passive mode or active
98+
+529A?
2%>!)
(229?
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(N5'
*AJ 3 28
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e can see that A)* A has more degrees of rotation compared to A)*
6.
T%b'! 7.1 !xperimental )esult
'he evaluation capabilities aiding diagnosis can provide valuable information on
which joints and which +%s have significant changes and which joints lose independent
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C
REFERENCES
Q1R 4yungoon 2ar, 9i0un Shang, ang 4oon Eang, ?iNing >u and ?upeng )enO
+eveloping a *ulti-oint (pper 9imb !xoseleton )obot for +iagnosis, 'herapy, and
%utcome !valuation in Neurorehabilitation,O 5!!! 'ransactions %n Neural ystems
And )ehabilitation !ngineering, Gol. 1, No. 3, *ay , )oth !. -, Shang 9.0 and Gan)ey,
5ntelligent stretching for anle joints with contracture/spasticity,O 5!!! 'ransaction Neural ystem )ehabil. !ng., vol. 1
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F
Q=R Eang .4 and Shang 9.0, )obust identification of multijoint human arm impedance
based on dynamics decomposition: A *%+!95NP '(+?,O 5n 2roc.33rd
Annu.5nt.8onf.5!!! !ng.*ed.6iol.oc., 6oston, *A,