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Design of A Clinically Relevant Elbow Exoskeleton Robot for Stroke Patients

Design of A Clinically Relevant Elbow Exoskeleton Robot for Stroke Patients
Translated Title
뇌졸중 환자를 위한 임상적으로 적절한 외골격 팔 재활로봇의 설계
Lee, Dong Jin
DGIST Authors
Lee, Dong Jin; Chang, Pyung Hun
Chang, Pyung Hun
Jang, Sung Ho
Issue Date
Available Date
Degree Date
2015. 8
Exoskeleton robotElbow rehabilitationStrokeSpasticityErgonomic design외골격 로봇팔꿈치 재활인간공학적 설계뇌졸중경직
The number of stroke patients is increasing each year. In this situation and with growing interest in im-proving the quality of life for the handicapped, rehabilitation robots are growing in importance. Among them, exoskeleton robots will help many disabled and old people to be able to live normal lives. Also, it can be utilized in physiotherapy and occupational therapy. The purpose of this thesis is the design of a clinically relevant elbow exoskeleton that meets the clinical requirements. At first, the proposed robot was designed to have sufficient torque for passive exercise therapy of post-stroke patients with spasticity (≤ MAS grade 3). Because the therapy of patients with high level spasticity can be hard work for therapists by increased muscle tone, and the patients cannot get enough rehabilitation treatment. Secondly, the proposed robot was designed to guarantee the safety for the robot-aided passive training of patients with spasticity. Robot-aided therapy can be an advantage in the strength and repetitive motion for alleviation and prevention of spasticity, but it is not trustworthy in safety issues. Thus, a safety algorism that includes catch detection and mode change was applied to this robot system to insure the patient’s safety by providing compliant motion to spastic arm. Thirdly, medical robot needs to meet the requirements in clinical field. Thus, the proposed robot was de-signed to have modular feature that is easy to assemble and disassemble with existing hand robot for practi-cal use. It can be useful for therapist’s work and merits as it is able to undercut. In addition, this robot is also adjustable to 90% of Korean people's arms. In the design of this exoskeleton robot, ergonomic aspects are considered so that therapists can use this robot easily and the patient will be felt comfortable. This robot also can be applied to both the right arm and the left arm through segmentation and reassembly. ⓒ 2015 DGIST
Table Of Contents
Ⅰ. INTRODUCTION -- 1.1 Purpose of Research 1 -- 1.2 Structure of Thesis 5 -- Ⅱ. BACKGROUND AND CLINICAL FIELD STUDY -- 2.1 Stroke and the Symptoms 6 -- 2.1.1 Spasticity 7 -- 2.1.2 Contracture 8 -- 2.2 Therapy Method for Stroke Patients 8 -- 2.2.1 Rehabilitation in ward 9 -- 2.2.2 Physiotherapy 10 -- 2.2.3 Occupational Therapy 11 -- 2.3 Elbow Joint Anatomy 12 -- 2.4 Perception of Problem 13 -- Ⅲ. LITERATURE STUDY -- 3.1 Categorization of Rehabilitation Robot 15 -- 3.2 Assembled Type Robot 17 -- 3.2.1 MGA exoskeleton 17 -- 3.2.2 IntelliArm 19 -- 3.2.3 ARMin III 20 -- 3.3 Stand-alone Type Robot 22 -- 3.3.1 WOTAS 22 -- 3.3.2 MyoPro 23 -- 3.3.3 MAHI exo II 24 -- 3.4 Spasticity Purposed Robot 26 -- 3.4.1 HESS and MSE 26 -- Ⅳ. Development Strategy -- 4.1 Target group 27 -- 4.2 Target environment and tasks 28 -- 4.3 Strategy Setting 29 -- 4.4 Required Specifications 33 -- Ⅴ. SYSTEM DESIGN -- 5.1 Design Process 41 -- 5.1.1 Design for Sufficient Torque 42 -- 5.1.2 Practical Design 46 -- 5.1.3 Safety Design 51 -- 5.2 Programmatic Simulation 54 -- 5.3 Prototyping 56 -- 5.4 System Architecture 58 -- 5.5 Experiments 59 -- Ⅵ. CONCLUSION -- 6.1 Study Summary 62 -- 6.2 Future Directions 63
Robotics Engineering
Robotics EngineeringThesesMaster

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