DESIGN AND IMPLEMENTATION OF A REHABILITATION
ROBOTIC SYSTEMS
Eyyüp Berkant Akın, Begüm Küçük, Şevval Duygu Baran, Nurefşan Kuzey
Department of Mechatronics Engineering,
FENG 498 - Engineering Capstone
Supervisor: Assist. Prof. Dr. Ebru Sayılgan
Abstract
In this study, a low-cost and portable robotic device has been developed for
patients with partial paralysis. The main task of the device is to allow
patients with partial paralysis to recover more quickly by performing
repetitive wrist movements. In addition, the robot is kept as low-cost as
possible (thanks to the use of cheap sensors and motors). Since one of the
most important goals in this study is low cost, a number of design activities
have been carried out in order to keep the performance/price ratio at a
reasonable level and a portable and low-cost wrist rehabilitation robot has
been produced. The device is portable and inexpensive so that it can be
easily supplied by patients with partial paralysis and the treatment process
can be carried out independently of hospitals and rehabilitation centers.
Introduction
Rehabilitation is a therapeutic method used to help people who have a
physical or anatomical condition or disability because of congenital or
subsequent accidents, diseases, or traumas achieve their greatest possible
functional level in terms of physical, mental, social, and professional
aspects. Rehabilitation is required for limbs that have been damaged due to
aging-related muscular weakness, job and traffic accidents, wars, and
chronic diseases to regain partial or complete function. Because the use of
the upper limbs is very intensive in daily life, the quality of life of people is
more affected when any discomfort occurs in this area. The goal of this
project is to design a therapeutic robot that is easily accessible to every
human being. By producing a device with a simple design at affordable
prices, it is aimed to regain the basic mobility abilities of the damaged wrist,
which has lost its basic functions.
Figure 3. Stress analysis for fixed part
Methods and Materials
The robot has a total of 2 degrees of freedom for flexion/extension and
radial/ulnar deviation movements. In addition, while the material selection
and the measurement values of the part are given, it is aimed to dampen the
vibrations during the operation of the robot and to have the necessary
strength values of the parts. ABS filament is preferred because it provides
lightness in terms of easy portability, is more durable when compared to
other filament types, and provides cost-effectiveness. At the same time,
stress distribution and accumulations were examined by using the finite
element method in SOLIDWORKS program, and changes were made in the
design or the selected materials in order to minimize them. The motor to be
used in the design was selected considering the conditions that allow the
robot to move, not increase the weight and provide durability in case of
load. Using position control as a control method was found appropriate. For
this reason, it was tried to work with the IMU sensor. In this direction, the
torque, speed, weight, and size dimensions of the motors were evaluated in
the selection of the motor.
Table 1. List of Materials
Power AR 3606H8 Servo Motor Bearing
Servo Futaba S3003 D Shaft
LSM9DS1 Breadboard
Arduino Mega Electric Cables
Filament Power Supply Converter
Figure 1. Simulation of adduction-abduction Figure 2. Simulation of extension-flexion
Results
In order to get more accurate results from the analysis of the project, the
design was analyzed in 3 separate parts: the fixed part where the arm is
placed, the part that provides the abduction-adduction movement, and the
frontmost part that provides the flexion-extension movements.
According to the finite element analysis, fixed part is durable while the part
that provides abduction-adduction movement is unstable to make the
desired movement and the design of part that provides flexion-extension is
suitable but can be improved for performing the flexion-extension
movements.
Figure 4. Stress Analysis for the middle part
Figure 5. Stress Analysis for the front part
Discussion & Conclusion
While deciding on the design, the advantages and disadvantages of the four
designs were taken into consideration. As a result of certain analyzes, it was
decided that the most suitable design was chosen. The points to be
considered in the design that has been decided are as follows. It has been
taken into account that the patient, who will use it first, can be easily used
and easily transported. The next point to be considered is the cost. Parts of
this robot were printed using a 3D printer. For this reason, the production
cost is quite reasonable. Considering all these criteria, it was decided that this
design was the most suitable design.
In this project, a low-budget rehabilitation robot was developed. The aim of
the project is to speed up the user's regaining the mobility of the wrist, whose
mobility has been weakened as a result of an accident. The project is based
on the principle of constantly comparing the adjusted angle value with the
angle value of the motor turning and eliminating the error in between. The
rotation angle value of the robot was determined by the IMU, and the angular
position of the motor determined. With further trials, the control algorithm
may be improved to make it more user-friendly. The control method utilized
while equalizing the angle values has adequate experience for the initial
prototype.
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