A 3D End-Effector Robot for Upper Limb Functional Rehabilitation of Hemiparesis Patients

Authors

  • Kewalee Asawapithulsert Chulalongkorn University
  • Anan Sutapun Haxter Robotics
  • Maitai Dahlan Chulalongkorn University
  • Viboon Sangveraphunsiri Chulalongkorn University

DOI:

https://doi.org/10.4186/ej.2022.26.11.29

Keywords:

virtual wall strategy, robot-assisted therapy, hemiparesis, rehabilitation robot, the 3D end-effector robot

Abstract

Robot-assisted therapy is a new type of rehabilitation that allows for highly repetitive, intensive, adaptable, and quantifiable physical training. It is increasingly being used to restore motor function, particularly in stroke survivors with upper limb paresis. The end-effector type robot allows natural movements without complex structure which is ideal for functional rehabilitation training. A 3D end-effector base on a five-bar linkage has been proposed to improve the common end-effector type that covers mechanical design, dynamic control strategy, and application of rehabilitation training or exercise. The dynamic controllers are deweighting with gravity compensation, passive mobilization or active assistive, and the virtual spring-damper wall concept. These controllers are used for developing functional rehabilitation training or exercise from an engineering point of view based on experiences in developing various types of rehabilitation robots. The experiments, based on the performance of the controllers, have been conducted with healthy subjects. The experimental results have shown very promising results and can be extended to various types of functional rehabilitation.

Downloads

Download data is not yet available.

Author Biographies

Kewalee Asawapithulsert

Department of Mechanical Engineering, Faculty of Engineering, Chulalongkorn University, 254 Phayathai Rd., Pathumwan, Bangkok 10330, Thailand

Anan Sutapun

Haxter Robotics, Bangkok 10330, Thailand

Maitai Dahlan

Department of Mechanical Engineering, Faculty of Engineering, Chulalongkorn University, 254 Phayathai Rd., Pathumwan, Bangkok 10330, Thailand

Viboon Sangveraphunsiri

Faculty of Engineering, Chulalongkorn University, Bangkok 10330, Thailand

Downloads

Published In
Vol 26 No 11, Nov 30, 2022
How to Cite
[1]
K. Asawapithulsert, A. Sutapun, M. Dahlan, and V. Sangveraphunsiri, “A 3D End-Effector Robot for Upper Limb Functional Rehabilitation of Hemiparesis Patients”, Eng. J., vol. 26, no. 11, pp. 29-41, Nov. 2022.