Development and control of a 3DOF upper-limb robotic device for patients with paretic limb impairment

Rehabilitation therapy after stroke is crucial to helping patients regain as much as possible the use of their paretic limbs. The major challenges, however, in conventional post-stroke rehabilitation therapy is that the therapy is labour intensive, time demanding, and therefore, expen...

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Main Authors:	Fatai, Sado, Sidek, Shahrul Na'im, Md. Yusof, Hazlina, Hafiz, Latif M., Babawuro, Adamu Y.
Format:	Article
Language:	English
Published:	Asian Research Publishing Network (ARPN) 2015
Subjects:	TA164 Bioengineering
Online Access:	http://irep.iium.edu.my/47310/ http://irep.iium.edu.my/47310/ http://irep.iium.edu.my/47310/1/IJCAS_vo_4-no3.pdf

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spelling	iium-473102016-07-17T07:44:05Z http://irep.iium.edu.my/47310/ Development and control of a 3DOF upper-limb robotic device for patients with paretic limb impairment Fatai, Sado Sidek, Shahrul Na'im Md. Yusof, Hazlina Hafiz, Latif M. Babawuro, Adamu Y. TA164 Bioengineering Rehabilitation therapy after stroke is crucial to helping patients regain as much as possible the use of their paretic limbs. The major challenges, however, in conventional post-stroke rehabilitation therapy is that the therapy is labour intensive, time demanding, and therefore, expensive with consequent reduction in the amount of training session required for optimal therapeutic outcome. In recent times, the use of robotic devices for rehabilitation training has been widely favoured. Robot-assisted rehabilitation therapy is cost-effective, fatigue-free, and has the potential to improve the efficiency of the rehabilitation process. More so, positive outcome of improved motor control abilities for patients undergoing robot-assisted therapy have been widely recorded. This paper presents the development and control of a portable three degree of freedom (3-DOF) end-effector-type robotic device for upper-extremity rehabilitation of paretic stroke patients. The device has three active DOFs consisting of two revolute joints and one prismatic joint (R-R-P) designed to allow 3-dimensional range of motion (ROM) exercise for elbow and shoulder rehabilitation. A novel adaptive hybrid impedance control framework has been developed for the device to allow safe robot-patient dynamic interaction during planned repetitive range of motion exercises and to keep track of patients’ motor recovery based on an embedded Modified Ashworth Scale assessment criteria. Experimental results performed, using a healthy subject, to test and evaluate the ability of the device to track a planned simple flexion/extension range of motion exercise for the elbow joint showed position and force tracking accuracy to a maximum root mean square error (RMSE) of 0.024m and 0.343N respectively which indicate the possibility of use of the device for real patients. Asian Research Publishing Network (ARPN) 2015-12 Article PeerReviewed application/pdf en http://irep.iium.edu.my/47310/1/IJCAS_vo_4-no3.pdf Fatai, Sado and Sidek, Shahrul Na'im and Md. Yusof, Hazlina and Hafiz, Latif M. and Babawuro, Adamu Y. (2015) Development and control of a 3DOF upper-limb robotic device for patients with paretic limb impairment. ARPN Journal of Engineering and Applied Sciences, 10 (23). pp. 17356-17362. ISSN 1819-6608 http://www.arpnjournals.org/jeas/research_papers/rp_2015/jeas_1215_3176.pdf
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA164 Bioengineering
spellingShingle	TA164 Bioengineering Fatai, Sado Sidek, Shahrul Na'im Md. Yusof, Hazlina Hafiz, Latif M. Babawuro, Adamu Y. Development and control of a 3DOF upper-limb robotic device for patients with paretic limb impairment
description	Rehabilitation therapy after stroke is crucial to helping patients regain as much as possible the use of their paretic limbs. The major challenges, however, in conventional post-stroke rehabilitation therapy is that the therapy is labour intensive, time demanding, and therefore, expensive with consequent reduction in the amount of training session required for optimal therapeutic outcome. In recent times, the use of robotic devices for rehabilitation training has been widely favoured. Robot-assisted rehabilitation therapy is cost-effective, fatigue-free, and has the potential to improve the efficiency of the rehabilitation process. More so, positive outcome of improved motor control abilities for patients undergoing robot-assisted therapy have been widely recorded. This paper presents the development and control of a portable three degree of freedom (3-DOF) end-effector-type robotic device for upper-extremity rehabilitation of paretic stroke patients. The device has three active DOFs consisting of two revolute joints and one prismatic joint (R-R-P) designed to allow 3-dimensional range of motion (ROM) exercise for elbow and shoulder rehabilitation. A novel adaptive hybrid impedance control framework has been developed for the device to allow safe robot-patient dynamic interaction during planned repetitive range of motion exercises and to keep track of patients’ motor recovery based on an embedded Modified Ashworth Scale assessment criteria. Experimental results performed, using a healthy subject, to test and evaluate the ability of the device to track a planned simple flexion/extension range of motion exercise for the elbow joint showed position and force tracking accuracy to a maximum root mean square error (RMSE) of 0.024m and 0.343N respectively which indicate the possibility of use of the device for real patients.
format	Article
author	Fatai, Sado Sidek, Shahrul Na'im Md. Yusof, Hazlina Hafiz, Latif M. Babawuro, Adamu Y.
author_facet	Fatai, Sado Sidek, Shahrul Na'im Md. Yusof, Hazlina Hafiz, Latif M. Babawuro, Adamu Y.
author_sort	Fatai, Sado
title	Development and control of a 3DOF upper-limb robotic device for patients with paretic limb impairment
title_short	Development and control of a 3DOF upper-limb robotic device for patients with paretic limb impairment
title_full	Development and control of a 3DOF upper-limb robotic device for patients with paretic limb impairment
title_fullStr	Development and control of a 3DOF upper-limb robotic device for patients with paretic limb impairment
title_full_unstemmed	Development and control of a 3DOF upper-limb robotic device for patients with paretic limb impairment
title_sort	development and control of a 3dof upper-limb robotic device for patients with paretic limb impairment
publisher	Asian Research Publishing Network (ARPN)
publishDate	2015
url	http://irep.iium.edu.my/47310/ http://irep.iium.edu.my/47310/ http://irep.iium.edu.my/47310/1/IJCAS_vo_4-no3.pdf
first_indexed	2023-09-18T21:07:20Z
last_indexed	2023-09-18T21:07:20Z
_version_	1777411020672729088

Development and control of a 3DOF upper-limb robotic device for patients with paretic limb impairment

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