Year-end Sale % OFF 
Abstract
This paper presents studies on the dynamic analysis of the ASPIRE robot, which was designed for the medical recovery of brachial monoparesis. It starts from the virtual model of the existing version of the ASPIRE robot, which is analysed kinematically and dynamically by numerical simulations using the MSC.ADAMS software. For this purpose, this paper presents theoretical aspects regarding the kinematics and dynamics of the markers attached to the flexible bodies built in a specifically developed MSC.ADAMS model. Three simulation hypotheses are considered: (a) rigid kinematic elements without friction in couplings, (b) rigid kinematic elements with friction in couplings, and (c) kinematic elements as deformable solids with friction in couplings. Experimental results obtained by using the physical prototype of ASPIRE are presented. Results such as the connecting forces in the kinematic joints and the torques necessary to operate the ASPIRE robot modules have been obtained by dynamic simulation in MSC.ADAMS and compared with those determined experimentally. The comparison shows that the allure of the variation curve of the moment obtained by simulation is similar to that obtained experimentally. The difference between the maximum experimental value and that obtained by simulation is less than 1%. A finite element analysis (FEA) of the structurally optimized flexion/extension robot module is performed. The results demonstrate the operational safety of the ASPIRE robot, which is structurally capable of supporting the stresses to which it is subjected.
Highlights
One of the most important factors of global interest is maintaining quality of life in the coming years by increasing life expectancy [1]
The most common consequences that can occur after a stroke are cognitive impairment (VCI), post-stroke fatigue (PSF) and post-stroke depression (PSD) [5]
The negative value recorded in the experimental torque determination sion module is 147.37 Nm experimentally, and by numerical simulation in ADAMS we comes from calibration of theThe torque-recording transducer, theexperimental maximum value obtained the the value of 149 Nm
Summary
One of the most important factors of global interest is maintaining quality of life in the coming years by increasing life expectancy [1]. The leading cause of long-term disability in adults is stroke or spinal cord injury [2,3]. Stroke is the second leading cause of death, with an incidence of 11.8%, after ischemic heart disease, with an incidence of. In more than 85% of cases, stroke causes upper limb injuries, [6] and only in 10% of cases, the subjects regain arm mobility [7]. Strokes can cause pure brachial monoparesis, which supposes partial paralysis of the upper limb, an unusual cerebrovascular syndrome that can be misdiagnosed due to the lack of any other neurological deficits. The main problem is the difficult recovery due to the complexity of the movement of the upper limbs [10]. The patient must follow a repetitive and task-oriented functional training [11], which translates into a high consumption of time and energy for therapists [12]
Sign-in/Register to view highlights & summary 
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
