Öz
Rehabilitation at home is a growing need worldwide. Previous studies have suggested different devices in terms of motion and force transmission. In this study, we present design and development process of a novel hand exercise exoskeleton. The main advantages of our device that are portable, wearable, light weight (345 grams) and suitable for home use. The greatest feature of the device is the force transmitting mechanism. The spring mechanism manufactured by using commercial compression springs has some advantages in terms of size and weight. In design studies of the device, we have made use of the systematic approach. In this way, the best of three possible design solutions has been determined. Then the best design solution was selected. A few prototypes of the device were manufactured. The device has been tested clinically on both unimpaired individuals and hemiplegic hand patients for a short time. It was reported that the exoskeleton was suited to passive exercises. The result section gives an evaluation of the device in terms of exercises, ergonomics and the market. Additionally, a patent registration certificate was issued to our device for our country.
Anahtar Kelimeler
Engineering design Hand exoskeleton Rehabilitation at home Hemiplegic hand Spring mechanism
Destekleyen Kurum
TÜBİTAK ARDEB
Proje Numarası
115M622
Teşekkür
This study supported by The Scientific and Technological Research Council of Turkey (TUBITAK) with project No. 115M622 and Sakarya University Scientific Research Projects Unit with project No. 2014-09-18-001. We thank Prof. Dr. İbrahim Tekeoglu of Sakarya University for contribution to patient trials and Assoc. Prof. Dr. Arno H. A. Stienen of Northwestern University for contribution to spring mechanism design of DS 2.
Kaynakça
- [1] Kwakkel G., “Intensity of practice after stroke: More is better”, Schwizer Archiv für Neurologie und Psychiatrie, 160(7): 295-298, (2009).
- [2] Amirabdollahian F., Ates S., Basteris A., Cesarino A., Buurke J., Hermens H., Hofs D., Johansson E., Mountain G., Nasr N., Nijenhuis S., Prange G., Rahman N., Sale P., Schatzlein F., van Schooten B., Stienen A., “Design, development and deployment of a hand/wrist exoskeleton for home-based rehabilitation after stroke – SCRIPT Project”, Robotica, 32(8): 1331-1346, (2014).
- [3] Tong K. Y., Ho S. K., Pang P. M. K., Hu X. L., Tam W. K., Fung K. L., Wei X. J., Chen P. N., Chen M., “An intention driven hand functions task training robotic system”, International Conference of the IEEE Engineering in Medicine and Biology, Argentina, 3406-3409, (2010).
- [4] Heo P., Gu G. M., Lee S., Rhee K., Kim J., “Current hand exoskeleton technologies for rehabilitation and assistive engineering”, International Journal of Precision Engineering and Manufacturing, 13(5): 807-824, (2012).
- [5] Hume M. C., Gellman H., McKellop H., Brumfield R. H., “Functional range of motion on the joints of the hand”, The Journal of Hand Surgery, 15A(2): 240-243, (1990).
- [6] Pahl G., Beitz W., Feldhusen J., Grote K. H., “Engineering Design”, Springer-Verlag, London, (2007).
- [7] Polygerinos P., Wang Z., Galloway K. C., Wood R. J., Walsh C. J., “Soft robotic glove for combined assistance and at-home rehabilitation”, Robotics and Autonomous Systems, 73: 135-143, (2015).
- [8] Yap H. K., Lim J. H., Nasrallah F., Goh J. C. H, Yeow C. H., “Characterisation and evaluation of soft elastomeric actuators for hand assistive and rehabilitation applications”, Journal of Medical Engineering & Technology, 40(4): 199-209, (2016).
- [9] Duan Q., Vashita V., Agrawal S. K., “Effect on wrench-feasible workspace of cable-driven parallel robots by adding spring”, Mechanism and Machine Theory, 86: 201-210, (2015).
- [10] Mao Y., Jin X., Dutta G. G., Scholz J. P., Agrawal S. K., “Human movement training with a cable driven arm exoskeleton (CAREX)”, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23(1): 84-92, (2015).
- [11] Borille A., Gomes J., Meyer R., Grote K., “Applying decision methods to select rapid prototyping technologies”, Rapid Prototyping Journal, 16(1): 50-62, (2010).
- [12] Birch A., Hon K. K. B, Short T., “Structure and output mechanism in Design for Environment (DfE) tools”, Journal of Cleaner Production, 35: 50-58, (2012).
- [13] Buchholz B., Armstrong T. J., “A kinematic model of the human hand to evaluate its prehensile capabilities”, Journal of Biomechanics, 25(2): 149-162, (1992).
- [14] Ertas I. H., Hocaoglu E., Patoglu V., “AssistOn-Finger: An underactuated finger exoskeleton for robot-assisted tendon therapy”, Robotica, 32(8): 1363-1382, (2014).
- [15] Taheri H., Rowe J.B., Gardner D., Chan V., Gray K., Bower C., Reinkensmeyer D. J., Wolbrecht E. T., “Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play”, Journal of NeuroEngineering and Rehabilitation, 11(10): 1-17, (2014).
- [16] Nilsson M., Ingvast J., Wikander J., von Holst H., “The soft extra muscle system for improving the grasping capability in neurological rehabilitation”, IEEE EMBS International Conference on Biomedical Engineering and Sciences, Malaysia, 412-417, (2012).
- [17] Cempini M., De Rossi S. M. M., Lenzi T., Cortese M., Giovacchini F., Vitiello N., Carrozza M. C., “Kinematics and design of a portable and wearable exoskeleton for hand rehabilitation”, IEEE International Conference on Rehabilitation Robotics, Seattle, 1-6, (2013).
- [18] Iqbal J., Khan H., Tsagarakis N. G., Caldwell D. G., “A novel exoskeleton robotic system for hand rehabilitation-conceptualization to prototyping”, Biocybernetics and Biomedical Engineering, 34: 79-89, (2014).
- [19] http://www.world-stroke.org/advocacy/world-stroke-campaign. Accessed: 10 March 2020
Öz
Rehabilitation at home is a growing need worldwide. Previous studies have suggested different devices in terms of motion and force transmission. In this study, we present design and development process of a novel hand exercise exoskeleton. The main advantages of our device that are portable, wearable, light weight (345 grams) and suitable for home use. The greatest feature of the device is the force transmitting mechanism. The spring mechanism manufactured by using commercial compression springs has some advantages in terms of size and weight. In design studies of the device, we have made use of the systematic approach. In this way, the best of three possible design solutions has been determined. Then the best design solution was selected. A few prototypes of the device were manufactured. The device has been tested clinically on both unimpaired individuals and hemiplegic hand patients for a short time. It was reported that the exoskeleton was suited to passive exercises. The result section gives an evaluation of the device in terms of exercises, ergonomics and the market. Additionally, a patent registration certificate was issued to our device for our country.
Anahtar Kelimeler
Engineering design hand exoskeleton rehabilitation at home hemiplegic hand spring mechanism
Proje Numarası
115M622
Kaynakça
- [1] Kwakkel G., “Intensity of practice after stroke: More is better”, Schwizer Archiv für Neurologie und Psychiatrie, 160(7): 295-298, (2009).
- [2] Amirabdollahian F., Ates S., Basteris A., Cesarino A., Buurke J., Hermens H., Hofs D., Johansson E., Mountain G., Nasr N., Nijenhuis S., Prange G., Rahman N., Sale P., Schatzlein F., van Schooten B., Stienen A., “Design, development and deployment of a hand/wrist exoskeleton for home-based rehabilitation after stroke – SCRIPT Project”, Robotica, 32(8): 1331-1346, (2014).
- [3] Tong K. Y., Ho S. K., Pang P. M. K., Hu X. L., Tam W. K., Fung K. L., Wei X. J., Chen P. N., Chen M., “An intention driven hand functions task training robotic system”, International Conference of the IEEE Engineering in Medicine and Biology, Argentina, 3406-3409, (2010).
- [4] Heo P., Gu G. M., Lee S., Rhee K., Kim J., “Current hand exoskeleton technologies for rehabilitation and assistive engineering”, International Journal of Precision Engineering and Manufacturing, 13(5): 807-824, (2012).
- [5] Hume M. C., Gellman H., McKellop H., Brumfield R. H., “Functional range of motion on the joints of the hand”, The Journal of Hand Surgery, 15A(2): 240-243, (1990).
- [6] Pahl G., Beitz W., Feldhusen J., Grote K. H., “Engineering Design”, Springer-Verlag, London, (2007).
- [7] Polygerinos P., Wang Z., Galloway K. C., Wood R. J., Walsh C. J., “Soft robotic glove for combined assistance and at-home rehabilitation”, Robotics and Autonomous Systems, 73: 135-143, (2015).
- [8] Yap H. K., Lim J. H., Nasrallah F., Goh J. C. H, Yeow C. H., “Characterisation and evaluation of soft elastomeric actuators for hand assistive and rehabilitation applications”, Journal of Medical Engineering & Technology, 40(4): 199-209, (2016).
- [9] Duan Q., Vashita V., Agrawal S. K., “Effect on wrench-feasible workspace of cable-driven parallel robots by adding spring”, Mechanism and Machine Theory, 86: 201-210, (2015).
- [10] Mao Y., Jin X., Dutta G. G., Scholz J. P., Agrawal S. K., “Human movement training with a cable driven arm exoskeleton (CAREX)”, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23(1): 84-92, (2015).
- [11] Borille A., Gomes J., Meyer R., Grote K., “Applying decision methods to select rapid prototyping technologies”, Rapid Prototyping Journal, 16(1): 50-62, (2010).
- [12] Birch A., Hon K. K. B, Short T., “Structure and output mechanism in Design for Environment (DfE) tools”, Journal of Cleaner Production, 35: 50-58, (2012).
- [13] Buchholz B., Armstrong T. J., “A kinematic model of the human hand to evaluate its prehensile capabilities”, Journal of Biomechanics, 25(2): 149-162, (1992).
- [14] Ertas I. H., Hocaoglu E., Patoglu V., “AssistOn-Finger: An underactuated finger exoskeleton for robot-assisted tendon therapy”, Robotica, 32(8): 1363-1382, (2014).
- [15] Taheri H., Rowe J.B., Gardner D., Chan V., Gray K., Bower C., Reinkensmeyer D. J., Wolbrecht E. T., “Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play”, Journal of NeuroEngineering and Rehabilitation, 11(10): 1-17, (2014).
- [16] Nilsson M., Ingvast J., Wikander J., von Holst H., “The soft extra muscle system for improving the grasping capability in neurological rehabilitation”, IEEE EMBS International Conference on Biomedical Engineering and Sciences, Malaysia, 412-417, (2012).
- [17] Cempini M., De Rossi S. M. M., Lenzi T., Cortese M., Giovacchini F., Vitiello N., Carrozza M. C., “Kinematics and design of a portable and wearable exoskeleton for hand rehabilitation”, IEEE International Conference on Rehabilitation Robotics, Seattle, 1-6, (2013).
- [18] Iqbal J., Khan H., Tsagarakis N. G., Caldwell D. G., “A novel exoskeleton robotic system for hand rehabilitation-conceptualization to prototyping”, Biocybernetics and Biomedical Engineering, 34: 79-89, (2014).
- [19] http://www.world-stroke.org/advocacy/world-stroke-campaign. Accessed: 10 March 2020
Ayrıntılar
| Birincil Dil | İngilizce |
|---|---|
| Konular | Mühendislik |
| Bölüm | Araştırma Makalesi |
| Yazarlar | |
| Proje Numarası | 115M622 |
| Yayımlanma Tarihi | 1 Mart 2021 |
| Gönderilme Tarihi | 22 Nisan 2020 |
| Yayımlandığı Sayı | Yıl 2021 Cilt: 24 Sayı: 1 |
Kaynak Göster
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