Abstract
To characterize the ELISE project, a concept robot applicable in the neuro-rehabilitation of the entire paretic upper limb. The project has been designed and implemented based on comprehensive rehabilitation of the shoulder, forearm and hand. ELISE is a concept robotic system prepared for individualized approach in rehabilitation of stroke patients including diagnostics, passive and/or active exercises and reports. The ELISE system includes dual biofeedback solutions: rehabilitation exercises in virtual reality (VR) and the virtual assistant of therapist. The biomechanical, ergonomics, electrical/electronics, hardware/software aspects of the design are described in detail here. This paper suggests a new approach to rehabilitation robots for the spastic upper limb of stroke survivors. Rehabilitation with ELISE robot was based on movement exercises, which incorporate biofeedback in VR. The patient realizes common tasks from ordinary life. This innovative rehabilitation connects practical/social aspect of rehabilitation with movement exercises. With the aid of these stimulations, the ELISE robot is intended to speed up the process of recovery from damaged neuron connections in brain. Robot was designed for flexible assembly and can be tailored to individual needs and unique expectations of each therapist and patient. This is possible thanks to the modular design of the robot arm and software. The ELISE robot will be sold in different configurations (e.g. without an expander or a set of virtual games or a virtual assistant of therapist).
Highlights
This paper presents the innovative design of the ELISE robot, which provides a complete rehabilitation system for the entire paretic upper limb of neurological patients
The ELISE robot is dedicated to individuals who suffered various types of injuries and illnesses, in particular to stroke survivors
The design of ELISE robot is significantly simpler as compared to a similar group of rehabilitation devices used in the world
Summary
The ELISE robot has been designed and implemented in response to a large demand for modern mechatronic solutions for patients with various neurological diseases [1,2,3,4,5,6,7,8]. It is possible to change the plane of exercises from horizontal Fig. 3(a) to vertical Fig. 3(b) This connecting element has a second hole, which allows the rotation of robot arm around the ordinate axis. With this innovative solution, it is possible to conduct rehabilitation in one of the eight intermediates planes (at intervals of 15°) (Fig. 4). The paretic upper limb is suspended under the robot arm This solution allows to realize exercises for left or right limb and provide the maximum possible range of motion in exercises. In order to propose a design solution for this type of device as well as the selection of appropriate components for the patient (including the reduction gear and AC servomotor), it becomes necessary to conduct a detailed analysis of the kinematics and dynamics of the manipulator arm with the upper limb
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