E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disability
The use of robotic platforms for neuro-rehabilitation may boost the neural plasticity process and improve motor recovery in patients with upper limb mobility impairment as a consequence of an acquired brain injury. A robotic platform for this aim must provide ergonomic and friendly design, human saf...
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doaj-47ec22de63ab4beaa1bda8e838f1a5982020-11-25T03:06:33ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402016-08-01810.1177/168781401665905010.1177_1687814016659050E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disabilityJuan C Fraile0Javier Pérez-Turiel1Enrique Baeyens2Pablo Viñas3Rubén Alonso4Alejandro Cuadrado5Manuel Franco-Martín6Esther Parra7Laureano Ayuso8Francisco García-Bravo9Félix Nieto10Lipsa Laurentiu11Instituto de Tecnologías Avanzadas de la Producción (ITAP), Universidad de Valladolid, Valladolid, SpainInstituto de Tecnologías Avanzadas de la Producción (ITAP), Universidad de Valladolid, Valladolid, SpainInstituto de Tecnologías Avanzadas de la Producción (ITAP), Universidad de Valladolid, Valladolid, SpainCentro Tecnológico CARTIF, Valladolid, SpainCentro Tecnológico CARTIF, Valladolid, SpainCentro Tecnológico CARTIF, Valladolid, SpainServicio de Psiquiatría del Complejo Asistencial de Zamora, Instituto Ibérico de Investigación en Psicociencias, Zamora, SpainFundación Intras, Valladolid, SpainAplifisa S.L., Salamanca, SpainAplifisa S.L., Salamanca, SpainIDECAL, Valladolid, SpainIDECAL, Valladolid, SpainThe use of robotic platforms for neuro-rehabilitation may boost the neural plasticity process and improve motor recovery in patients with upper limb mobility impairment as a consequence of an acquired brain injury. A robotic platform for this aim must provide ergonomic and friendly design, human safety, intensive task-oriented therapy, and assistive forces. Its implementation is a complex process that involves new developments in the mechanical, electronics, and control fields. This article presents the end-effector rehabilitation robot, a 2-degree-of-freedom planar robotic platform for upper limb rehabilitation in patients with neuromotor disability after a stroke. We describe the ergonomic mechanical design, the system control architecture, and the rehabilitation therapies that can be performed. The impedance-based haptic controller implemented in end-effector rehabilitation robot uses the information provided by a JR3 force sensor to achieve an efficient and friendly patient–robot interaction. Two task-oriented therapy modes have been implemented based on the “assist as needed” paradigm. As a result, the amount of support provided by the robot adapts to the patient’s requirements, maintaining the therapy as intensive as possible without compromising the patient’s health and safety and promoting engagement.https://doi.org/10.1177/1687814016659050 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Juan C Fraile Javier Pérez-Turiel Enrique Baeyens Pablo Viñas Rubén Alonso Alejandro Cuadrado Manuel Franco-Martín Esther Parra Laureano Ayuso Francisco García-Bravo Félix Nieto Lipsa Laurentiu |
spellingShingle |
Juan C Fraile Javier Pérez-Turiel Enrique Baeyens Pablo Viñas Rubén Alonso Alejandro Cuadrado Manuel Franco-Martín Esther Parra Laureano Ayuso Francisco García-Bravo Félix Nieto Lipsa Laurentiu E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disability Advances in Mechanical Engineering |
author_facet |
Juan C Fraile Javier Pérez-Turiel Enrique Baeyens Pablo Viñas Rubén Alonso Alejandro Cuadrado Manuel Franco-Martín Esther Parra Laureano Ayuso Francisco García-Bravo Félix Nieto Lipsa Laurentiu |
author_sort |
Juan C Fraile |
title |
E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disability |
title_short |
E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disability |
title_full |
E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disability |
title_fullStr |
E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disability |
title_full_unstemmed |
E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disability |
title_sort |
e2rebot: a robotic platform for upper limb rehabilitation in patients with neuromotor disability |
publisher |
SAGE Publishing |
series |
Advances in Mechanical Engineering |
issn |
1687-8140 |
publishDate |
2016-08-01 |
description |
The use of robotic platforms for neuro-rehabilitation may boost the neural plasticity process and improve motor recovery in patients with upper limb mobility impairment as a consequence of an acquired brain injury. A robotic platform for this aim must provide ergonomic and friendly design, human safety, intensive task-oriented therapy, and assistive forces. Its implementation is a complex process that involves new developments in the mechanical, electronics, and control fields. This article presents the end-effector rehabilitation robot, a 2-degree-of-freedom planar robotic platform for upper limb rehabilitation in patients with neuromotor disability after a stroke. We describe the ergonomic mechanical design, the system control architecture, and the rehabilitation therapies that can be performed. The impedance-based haptic controller implemented in end-effector rehabilitation robot uses the information provided by a JR3 force sensor to achieve an efficient and friendly patient–robot interaction. Two task-oriented therapy modes have been implemented based on the “assist as needed” paradigm. As a result, the amount of support provided by the robot adapts to the patient’s requirements, maintaining the therapy as intensive as possible without compromising the patient’s health and safety and promoting engagement. |
url |
https://doi.org/10.1177/1687814016659050 |
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