Manipulative robot for knee rehabilitation of patients with Ilizarov apparatus mounted on the thigh

• Autorzy: Krysiak B. , Majchrzak J. , Pazderski D. , Sauer P.
• Języki publikacji: EN

Abstrakty

EN

We present a new manipulative robotic system with 1 degree of freedom designed for increasing of the knee rehabilitation efficiency in case of patients with the femur distraction osteogenesis with use of Ilizarov apparatus. Based on the conducted analysis of the knee’s anatomy, biomechanical functionality of knee-joint and characteristics of considered medical treatment, overall assumptions concerning robotic assistance in knee rehabilitation process are formulated. Then we propose a simplified kinematic structure based on one rotational fixed axis taking into accountguidelines resulting from specificity of complications following a femur distraction osteogenesis with use of Ilizarov apparatus. The paper presents description of mechanical and measurement system for a considered manipulative robot. The issues regarding patient’s safety while realization of robotic rehabilitation are also discussed. Additionally, motion control and force control design issues are considered and some preliminary experimental results are presented.

Słowa kluczowe

EN

robotic manipulator; rehabilitation; knee joint; Ilizarov apparatus

PL

robot manipulacyjny; rehabilitacja; staw kolanowy; aparat Ilizarowa

• Wydawca: Międzynarodowe Stowarzyszenie na rzecz Robotyki Medycznej
• Czasopismo: Medical Robotics Reports
• Rocznik: 2014
• Tom: vol. 3
• Strony: 13--18
• Opis fizyczny: Bibliogr. 10 poz., fot., rys., wykr.

Twórcy

autor

Krysiak B.

• Chair of Control and Systems Engineering, Poznan University of Technology, Poznan, POLAND

autor

Majchrzak J.

• Chair of Control and Systems Engineering, Poznan University of Technology, Poznan, POLAND

autor

Pazderski D.

• Chair of Control and Systems Engineering, Poznan University of Technology, Poznan, POLAND

autor

Sauer P.

• Chair of Control and Systems Engineering, Poznan University of Technology, Poznan, POLAND

Bibliografia

• 1. P. Koczewski, M. Shadi, M. Napiontek. Technical problems in distraction of osteotomy site during correction of foot deformity with Ilizarov technique. In: XVII International Conference of the Society for Research and Application Methods of Ilizarov - ASAMI. Zakopane, 2008, pp. 1.
• 2. P. Koczewski, M. Shadi, D. Ławniczak. Lower limb axial deformity correction in children and juveniles with monoliteral external fixators. In: II World Congress of External Fixation. Kair, Egipt, 2007.
• 3. P. Sauer, M. Drążkowska, K. Kozłowski, B. Krysiak, J. Majchrzak, D. Pazderski, M. Jóźwiak, P. Koczewski, M. Shadi, R. Hejna, “Rehabilitation of the knee and its assistance with rehabilitation manipulator”, Mobile service robotics, World Scientific Publishing Co., Singapore, 2014, p. 547-555.
• 4. J. M. Drouin, T. C. Valovich-mcLeod, S. J. Shultz, B. M. Gansneder, D. H. Perrin. Reliability and validity of the Biodex system 3 pro isokinetic dynamometer velocity, torque and position measurements. European Journal of Applied Physiology. (2004) 91: 22–29.
• 5. M. Kordasz, P. Sauer, Automatic determination of knee kinematics for lower limb rehabilitation manipulator design, International Workshop on Robot Motion and Control, Wąsowo, 2013, pp. 86-91, ISBN 978-1-4673-5510-0.
• 6. G. Aguirre-Ollinger, J.E. Colgate, M.A.Peshkin and A. Goswami. Active-Impedance Control of a Lower-Limb Assistive Exoskeleton. In: the 2007 IEEE 10th International Conference on Rehabilitation Robotics, Proceedings. June 12-15, Noordwijk, The Nethelands, pp. 188-194, 2007.
• 7. E. Akdogan, E. Tacgin, M.A. Adli. Intelligent Control of a Robot Manipulator for Knee Rehabilitation. In: 5th International Symposium on Intelligent Manufacturing Systems, Proceedings. pp. 695-703, 2006.
• 8. J. Nikitczuk, B. Wein and C. Mavroidis. Rehabilitative Knee Orthosis Drivenby Electro-Rheological Fluid Based Actuators. In: the 2005 IEEE International Conference on Robotics and Automation. Barcelona, Spain, A. Menschik, Mechanics of the knee-joint, part 1, Zeitschrift Fur Orthopadie Und Ihre Grenzgebiete, 1974, vol. 112, no. 3, pp. 481-495, 1974
• 9. J. E. Pratt, B. T. Krupp, Ch. J. Morse. The RobotKnee - An Exoskeleton for Enhancing Strength and Endurance During Walking. In: Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, 2004, pp. 2430-2435.
• 10. Zhiqiang Gao, Active Disturbance Rejection Control: A Paradigm Shift in Feedback Control System Design, Proc. of ACC, June, 2006, pp. 2399-2405.

Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).