A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks
Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position...
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MDPI AG
2021
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oai:doaj.org-article:b633dbd5a9eb4633bd07f6a7487b77ac2021-11-11T15:01:46ZA Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks10.3390/app112199322076-3417https://doaj.org/article/b633dbd5a9eb4633bd07f6a7487b77ac2021-10-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/21/9932https://doaj.org/toc/2076-3417Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (operator, robot, and patient) and overcome in a certain measure all the events that may occur during the robotic rehabilitation procedure. This paper presents the development of an internal torque monitoring system for ASPIRE. This is a parallel robot designed for shoulder rehabilitation, which enables the use of strategies towards developing a HRI (human–robot interaction) system for the therapy. A complete analysis regarding the components of the robotic system is carried out with the purpose of determining the dynamic behavior of the system. Next, the proposed torque monitoring system is developed with respect to the previously obtained data. Several experimental tests are performed using healthy subjects being equipped with a series of biomedical sensors with the purpose of validating the proposed torque monitoring strategy and, at the same time, to satisfy the degree of safety that is requested by the medical procedure.Doina PislaDaniela TarnitaPaul TucanNicoleta TohaneanCalin VaidaIonut Daniel GeoneaGherman BogdanCristian AbrudanGiuseppe CarboneNicolae PliteaMDPI AGarticlerobotic rehabilitationbrachial monoparesistorque monitoringhuman–robot interactionTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 9932, p 9932 (2021) |
| institution |
DOAJ |
| collection |
DOAJ |
| language |
EN |
| topic |
robotic rehabilitation brachial monoparesis torque monitoring human–robot interaction Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 |
| spellingShingle |
robotic rehabilitation brachial monoparesis torque monitoring human–robot interaction Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Doina Pisla Daniela Tarnita Paul Tucan Nicoleta Tohanean Calin Vaida Ionut Daniel Geonea Gherman Bogdan Cristian Abrudan Giuseppe Carbone Nicolae Plitea A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks |
| description |
Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (operator, robot, and patient) and overcome in a certain measure all the events that may occur during the robotic rehabilitation procedure. This paper presents the development of an internal torque monitoring system for ASPIRE. This is a parallel robot designed for shoulder rehabilitation, which enables the use of strategies towards developing a HRI (human–robot interaction) system for the therapy. A complete analysis regarding the components of the robotic system is carried out with the purpose of determining the dynamic behavior of the system. Next, the proposed torque monitoring system is developed with respect to the previously obtained data. Several experimental tests are performed using healthy subjects being equipped with a series of biomedical sensors with the purpose of validating the proposed torque monitoring strategy and, at the same time, to satisfy the degree of safety that is requested by the medical procedure. |
| format |
article |
| author |
Doina Pisla Daniela Tarnita Paul Tucan Nicoleta Tohanean Calin Vaida Ionut Daniel Geonea Gherman Bogdan Cristian Abrudan Giuseppe Carbone Nicolae Plitea |
| author_facet |
Doina Pisla Daniela Tarnita Paul Tucan Nicoleta Tohanean Calin Vaida Ionut Daniel Geonea Gherman Bogdan Cristian Abrudan Giuseppe Carbone Nicolae Plitea |
| author_sort |
Doina Pisla |
| title |
A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks |
| title_short |
A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks |
| title_full |
A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks |
| title_fullStr |
A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks |
| title_full_unstemmed |
A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks |
| title_sort |
parallel robot with torque monitoring for brachial monoparesis rehabilitation tasks |
| publisher |
MDPI AG |
| publishDate |
2021 |
| url |
https://doaj.org/article/b633dbd5a9eb4633bd07f6a7487b77ac |
| work_keys_str_mv |
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| _version_ |
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