Abstract
This paper addresses the design of a novel bionic robotic device for upper limb rehabilitation tasks at home. The main goal of the design process has been to obtain a rehabilitation device, which can be easily portable and can be managed remotely by a professional therapist. This allows to treat people also in regions that are not easily reachable with a significant cost reduction. Other potential benefits can be envisaged, for instance, in the possibility to keep social distancing while allowing rehabilitation treatments even during a pandemic spread. Specific attention has been devoted to design the main mechatronic components by developing specific kinematics and dynamics models. The design process includes the implementation of a specific control hardware and software. Preliminary experimental tests are reported to show the effectiveness and feasibility of the proposed design solution.
Highlights
Robotic assisted rehabilitation is a rapidly growing field with increasing applications in clinical care, as reported for example in Refs. [1,2,3,4,5,6,7,8,9,10]
The experimental tests have demonstrated the engineering feasibility of the proposed device and the fulfillment of all the design requirements described at section 2, exceeding ReoGo performance while operation on a common home desk
This paper outlines the design process for achieving a novel robotic device that is intended for upper limb rehabilitation
Summary
Robotic assisted rehabilitation is a rapidly growing field with increasing applications in clinical care, as reported for example in Refs. [1,2,3,4,5,6,7,8,9,10]. The existing devices are often expansive, bulky, and complex to operate, requiring a trained operator and dedicated facilities in specialized clinic environments This can limit the spread of these solutions in the market especially when referring to less developed/low-income countries and/or in areas, which are not accessible. At the same time such device should provide performances comparable with the existing commercial design solutions and be suitable for a remote supervision by operators in clinics, who will adjust the treatment according to the patient needs. Given these main design requirements, a specific design procedure has been outlined by focusing on the main steps of the mechanical design synthesis. Preliminary experimental tests are reported to show the effectiveness and feasibility of the proposed design solution
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