Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지

A Feasibility Study on a Robotic Exercise System for MDOF Physical Rehabilitation Therapy

  • Published : 2004.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a robot system developed for medical purpose. A 6-degree-of-freedom robot was introduced for physical exercise and rehabilitation. This system was proposed for stroke patients or patients who cannot use one of their arms or legs. The robot system exercises the hemiplegic part based on the motion of normal part of a patient. Kinematic studies on the human body and robot were applied to develop the robotic rehabilitation exercise system. A clamp which acts as an end effector of the robot to hold a patient was designed and applied to the robot to guarantee the safety of patients. The proposed robotic rehabilitation system was verified by simulations and experiments on arm (elbow and shoulder) motion. Patients are expected to be able to exercise various motions by themselves with the proposed robotic rehabilitation system.

Keywords

References

  1. Bentley, G. and Minas, T., 2000, 'Science, Medicine, and the Future: Treating Joint Damage in Young People,' British Medical Journal, Vol. 320, No. 7249, pp. 1585-1588 https://doi.org/10.1136/bmj.320.7249.1585
  2. Casals, A., Amat, J. and Laporte, E., 1996, 'Automatic Guidance of an Assistant Robot in Laparoscopic Surgery,' Robotics and Automation, Proceedings IEEE International Conference on, Vol. 1, pp. 895-900 https://doi.org/10.1109/ROBOT.1996.503886
  3. Cha Inhyuk, Han Changsoo and Yi Byungju, 1998, 'Development of a Human Interface System for the IMS - Application of the Teleoperation System,' Journal of the Korean Society of Precision Engineering, Vol. 15, No. 8, pp.156-164
  4. Chen, Boqing MD., PhD. Zimmerman, Jerald R. MD. Soulen, Leslie PT. DeLisa, Joel A. MD, MS., 2000, 'Continuous Passive Motion After Total Knee Arthroplasty : A Prospective Study,' American Journal of Physical Medicine and Rehabilitation, Vol. 79, No. 5, pp.421-426 https://doi.org/10.1097/00002060-200009000-00003
  5. Colle, E., Rybawzyk, Y., Hoppenot, P., 2002, 'ARPH: an Assistant Robot for disabled people,' Systems, Man and Cybernetics, IEEE International Conference on, Vol. 1, pp. 176-181
  6. Duk Sun Yun, Woon Sung Lee and Jung Ha Kim, 2002, 'The Control System Modeling and Experiment for the Tele-operated Unmanned Vehicle,' KSME International Journal, Vol. 16, No. 10, pp. 1253-1263
  7. Dvir, Z., 1995, Isokinetics: Muscle Testing, Interpretation and Clinical Applications, Churchill Livingstone
  8. Esselman, P. C. and Lacerte, M., 1994, 'Principles of Isokinetic Exercise,' Physical Medicine and Rehabilitation Clinics of North America, Vol. 5, No. 2, pp.255-261
  9. Hislop, H. J. and Perrine, J. J., 1967, 'The Isokinetic Concept of Exercise,' Journal of American Physical Therapy Association, Vol. 47, pp. 114-117
  10. Johnson D. P. and Eastwood D. M., 1992, 'Beneficial Effects of Continuous Passive Motion After Total Condylar Knee Arthroplasty,' Annals of The Royal College of Surgeons of England, Vol. 74, No.6, pp.412-416
  11. Kellis, E. and Baltzopoulos, V., 1995, 'Isokinetic Eccentric Exercise,' Sports Medicine, Vol. 19, No. 3, pp.202-208 https://doi.org/10.2165/00007256-199519030-00005
  12. Kumar, A., Jobe, C. and Saha, S., 1995, 'Location of the Instantaneous Center of Rotation for Shoulder Motion,' Biomedical Engineering Conference, pp. 245-247 https://doi.org/10.1109/SBEC.1995.514490
  13. Lavallee, S. and Cinquin, P., 1991, 'Igor: Image Guided Operating Robot,' Advanced Robotics, Fifth International Conference on, pp.876-881 https://doi.org/10.1109/ICAR.1991.240563
  14. Liangming, L., Liming, G., Guozheng, Y. and Rong, R., 1997, 'A Study on the Endoscope System Driven by Squirmy Robot,' Intelligent Processing Systems, IEEE International Conference on, Vol. 1, pp. 75-81 https://doi.org/10.1109/ICIPS.1997.672742
  15. Lum, P. S., Burgar, C. G., Kenney, D. E., Van der Loos, H. F. M., 1999, 'Quantification of Force Abnormalities during Passive and Active-Assisted Upper-Limb Reaching Movements in Post-Stroke Hemiparesis,' Biomedical Engineering, IEEE Transactions on, Vol. 46, No. 6, pp.652-662 https://doi.org/10.1109/10.764942
  16. McCann, P. D., Wootten, M. E., Kadaba, M. P. and Bigliani, L. U., 1993, 'A Kinematic and Electromyographic Study of Shoulder rehabilitation exercises,' Clinical Orthopaedics and related research, No. 288, pp. 179-187
  17. Melchionda, A. M. et al., 1984, 'The Effect of Local Isometric Exercise in the Serum Levels of Beta- Endorphin/Beta- Lipotropin,' Physician and Sports Medicine, Vol. 12, No. 9, pp. 102-109 https://doi.org/10.1080/00913847.1984.11701948
  18. Morrissey, M. C., Harman, E. A. and Johnson, M. J., 1995, 'Resistance Training Modes: Specificity and effectiveness,' Medicine and Science in Sports and Exercise, Vol. 27, No. 5, pp. 648-660
  19. Muller, E. A. and Hettinger, T. W., 1954, 'The Effects of Isometric Exercise against Isotonic Exercise on Muscles,' Arbeitsphysiology , Vol. 15, No. 452
  20. Norton, K. P. and Kohles, S. S., 2001, 'Shoulder Joint Mechanics during Concentric and Eccentric Rehabilitative Exercise,' Bioengineering Conference, Proceedings of the IEEE 27th Annual Northeast, pp. 95-96 https://doi.org/10.1109/NEBC.2001.924737
  21. Pearsall, D. J. and Reid, J. G., 1994, 'The Study of Human body segment Parameters in Biomechanics: An Historical Review and Current Status Report,' Sports Medicine, Vol. 18, No. 2, pp. 126-133 https://doi.org/10.2165/00007256-199418020-00005
  22. Sehyun Shin, Do-Young Keum and Yun-Hee Ku, 2002,cc,' KSME International Journal, Vol. 16, No. 12, pp. 1719-1724
  23. Sim Hyung-Joon, Cha In-Hyuk and Han Chang-Soo, 1998, 'The Development of String type Tele-operation Controller for 3D Environment,' Journal of the Korean Society of Precision Engineering, Vol. 15, No. 5, pp.53-160
  24. Sivenius, J., Pyorala, K., Hcinone, O. P., Salonen, I. T. and Rcikkine, P., 1985, 'The Significance of Intensity of Rehabilitation of Stroke - a Controlled Trial,' Stroke, Vol. 16, pp.928-931 https://doi.org/10.1161/01.STR.16.6.928
  25. Tidas, P. M., Shoemaker, J. K. and Effleurage Massage, 1995, 'Muscle Blood Flow and Long Term Post-Exercise Strength Recovery,' International Journal of Sports Medicine, Vol. 16, No. 7, pp.478-483 https://doi.org/10.1055/s-2007-973041
  26. Vara-Thorbeck, C., Munoz, V. F., Toscano, R., Gomez, J., Fernandez, J., Felices, M. and Garcia-Cerezo, A. 2001, 'A New Robotic Endoscope Manipulator,' Surgical Endoscopy, Vol. 15, No. 9, pp. 924-927 https://doi.org/10.1007/s00464-001-0033-3