Multivariate analysis of the kinematics of an upper limb rehabilitation robot

• Autorzy: Sobiech Mariusz , Michnik Andrzej , Chuchnowska Iwona , Karpiel Ilona , Wolański Wojciech

Identyfikatory

DOI

10.37190/ABB-02386-2024-02

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

rehabilitation robot; therapy; upper limb exoskeleton; kinematic chain of exoskeleton; kinematic analysis

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Acta of Bioengineering and Biomechanics
• Rocznik: 2024
• Tom: Vol. 26, no. 1
• Strony: 55--66
• Opis fizyczny: Bibliogr. 19 poz., rys., tab., wykr.

Twórcy

autor

Sobiech Mariusz

• Łukasiewicz Research Network – Krakow Institute of Technology, Zabrze, Poland.
• Department of Biomechatronics, Silesian University of Technology, Zabrze, Poland.
• PhD School, Silesian University of Technology, Gliwice, Poland.

autor

Michnik Andrzej

• Łukasiewicz Research Network – Krakow Institute of Technology, Zabrze, Poland.
• Department of Biomechatronics, Silesian University of Technology, Zabrze, Poland.
• PhD School, Silesian University of Technology, Gliwice, Poland.

autor

Chuchnowska Iwona

• Department of Biomechatronics, Silesian University of Technology, Zabrze, Poland.

autor

Karpiel Ilona

• Łukasiewicz Research Network – Krakow Institute of Technology, Zabrze, Poland.

autor

Wolański Wojciech

• Department of Biomechatronics, Silesian University of Technology, Zabrze, Poland.

Bibliografia

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