abstract

• At a point in the future there may be few physical therapists for the number of patients who need treatment. To address the problem, we have created a device that can rehabilitate the wrist movements like flexion/extension and abduction/adduction, in addition to being able to fit either the left or right wrist. This paper presents the design and development of a single degree of freedom (DOF) rehabilitation device driven by a pneumatic Variable Stiffness Actuator (pVSA). This mechanism is intended to rehabilitate and aid with wrist movements. The proposed device is designed to be stationary, placing the patient%27s forearm on the device, where he/she grabs a handle.The dynamic model of the apparatus is presented along with a suitable control law. For this, a kinematic analysis of the mechanism and dynamic modeling of the pneumatic cylinder were developed. The pneumatic system allows the control of both the output force and stiffness of the system by pressure control. © 2021 IEEE.
• At a point in the future there may be few physical therapists for the number of patients who need treatment. To address the problem, we have created a device that can rehabilitate the wrist movements like flexion/extension and abduction/adduction, in addition to being able to fit either the left or right wrist. This paper presents the design and development of a single degree of freedom (DOF) rehabilitation device driven by a pneumatic Variable Stiffness Actuator (pVSA). This mechanism is intended to rehabilitate and aid with wrist movements. The proposed device is designed to be stationary, placing the patient's forearm on the device, where he/she grabs a handle.The dynamic model of the apparatus is presented along with a suitable control law. For this, a kinematic analysis of the mechanism and dynamic modeling of the pneumatic cylinder were developed. The pneumatic system allows the control of both the output force and stiffness of the system by pressure control. © 2021 IEEE.

authors

• Cárdenas Galindo Juan Antonio
• Gonzalez-Galvan Emilio J.
• González de Alba Alejandro
• Maya Méndez Mauro Eduardo

publication date

• 2021-01-01

published in

• Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021  Proceedings

keywords

• Dynamics; Patient rehabilitation; Patient treatment; Pneumatic actuators; Pneumatic equipment; Robotics; Stiffness; Abduction/adduction; Design and Development; Design control; Design models; Dynamics models; Flexion-extension; Modelling and controls; Variable stiffness devices; Wrist movements; Wrist Rehabilitation; Degrees of freedom (mechanics)

Digital Object Identifier (DOI)

• 10.1109/ComRob53312.2021.9628734

PubMed ID

start page

• 50

end page

• 55

volume

issue