Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation

Abstract Wrist rehabilitation is needed to help post-stroke and post-surgery patients recover from wrist fracture or injury. Traditional rehabilitation training is conducted by a therapist in a hospital, which hinders timely treatment due to the corresponding time and space constraints. This paper p...

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Autores principales:	Yaxi Wang, Qingsong Xu
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/7ba03f8674e644a192dbe0da7c6f126a
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spelling	oai:doaj.org-article:7ba03f8674e644a192dbe0da7c6f126a2021-12-02T14:01:23ZDesign and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation10.1038/s41598-020-80411-02045-2322https://doaj.org/article/7ba03f8674e644a192dbe0da7c6f126a2021-01-01T00:00:00Zhttps://doi.org/10.1038/s41598-020-80411-0https://doaj.org/toc/2045-2322Abstract Wrist rehabilitation is needed to help post-stroke and post-surgery patients recover from wrist fracture or injury. Traditional rehabilitation training is conducted by a therapist in a hospital, which hinders timely treatment due to the corresponding time and space constraints. This paper presents the design and implementation of a soft parallel robot for automated wrist rehabilitation. The presented wrist rehabilitation robot integrates the advantages of both soft robot and parallel robot structures. Unlike traditional rigid-body based rehabilitation robots, this soft parallel robot exhibits a compact structure, which is highly secure, adaptable, and flexible and thus a low-cost solution for personalized treatment. The proposed soft wrist-rehabilitation robot is driven by six evenly distributed linear actuators using pneumatic artificial muscles and one central linear electric motor. The introduced parallel-kinematic mechanism design enables the enhancement of the output stiffness of the soft robot for practical use. An electromyography sensor is adopted to provide feedback signals for evaluating the rehabilitation training process. A kinematic model of the designed robot is derived, and a prototype is fabricated for experimental testing. The results demonstrate that the developed soft rehabilitation robot can assist the wrist to realize all the required training motions, including abduction-adduction, flexion-extension, and supination-pronation. The compact and lightweight structure of this novel robot makes it convenient to use, and suitable rehabilitation training modes can be chosen for tailored rehabilitation at home or in a hospital.Yaxi WangQingsong XuNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 11, Iss 1, Pp 1-11 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Yaxi Wang Qingsong Xu Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation
description	Abstract Wrist rehabilitation is needed to help post-stroke and post-surgery patients recover from wrist fracture or injury. Traditional rehabilitation training is conducted by a therapist in a hospital, which hinders timely treatment due to the corresponding time and space constraints. This paper presents the design and implementation of a soft parallel robot for automated wrist rehabilitation. The presented wrist rehabilitation robot integrates the advantages of both soft robot and parallel robot structures. Unlike traditional rigid-body based rehabilitation robots, this soft parallel robot exhibits a compact structure, which is highly secure, adaptable, and flexible and thus a low-cost solution for personalized treatment. The proposed soft wrist-rehabilitation robot is driven by six evenly distributed linear actuators using pneumatic artificial muscles and one central linear electric motor. The introduced parallel-kinematic mechanism design enables the enhancement of the output stiffness of the soft robot for practical use. An electromyography sensor is adopted to provide feedback signals for evaluating the rehabilitation training process. A kinematic model of the designed robot is derived, and a prototype is fabricated for experimental testing. The results demonstrate that the developed soft rehabilitation robot can assist the wrist to realize all the required training motions, including abduction-adduction, flexion-extension, and supination-pronation. The compact and lightweight structure of this novel robot makes it convenient to use, and suitable rehabilitation training modes can be chosen for tailored rehabilitation at home or in a hospital.
format	article
author	Yaxi Wang Qingsong Xu
author_facet	Yaxi Wang Qingsong Xu
author_sort	Yaxi Wang
title	Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation
title_short	Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation
title_full	Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation
title_fullStr	Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation
title_full_unstemmed	Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation
title_sort	design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation
publisher	Nature Portfolio
publishDate	2021
url	https://doaj.org/article/7ba03f8674e644a192dbe0da7c6f126a
work_keys_str_mv	AT yaxiwang designandtestingofasoftparallelrobotbasedonpneumaticartificialmusclesforwristrehabilitation AT qingsongxu designandtestingofasoftparallelrobotbasedonpneumaticartificialmusclesforwristrehabilitation
_version_	1718392150853419008

Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation

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