Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality.

Area of Science:

• Robotics
• Rehabilitation Engineering
• Human-Robot Interaction

Background:

• Upper limb rehabilitation robots are crucial for post-stroke recovery, aiming to improve patient functionality and human-robot interaction (HRI).
• Current robots typically offer either exoskeleton (joint-based) or end-effector (end-point) functionality, potentially limiting comprehensive patient care.
• Existing systems often lack the capability to monitor interaction forces, particularly upper arm forces, hindering precise HRI assessment during passive exercises.

Purpose of the Study:

• To design and develop a novel seven-degrees-of-freedom (DoFs) upper-limb rehabilitation exoskeleton, named 'u-Rob'.
• To enable u-Rob to function as both an exoskeleton and an end-effector device, catering to diverse patient needs.
• To introduce an innovative sensorized upper arm cuff for measuring wearer interaction forces, thereby improving HRI monitoring.

Main Methods:

• Development of a seven-DoFs upper-limb exoskeleton ('u-Rob').
• Integration of dual functionality: exoskeleton and end-effector capabilities.
• Implementation of a sensorized upper arm cuff for interaction force measurement.
• Application of a Proportional-Integral-Derivative (PID) control technique for exercise execution.

Main Results:

• The developed 'u-Rob' successfully demonstrated both exoskeleton and end-effector functionalities.
• The innovative sensorized upper arm cuff effectively measured interaction forces during rehabilitation exercises.
• Experimental validation confirmed the robot's dual functionality and the efficacy of the force measurement system.

Conclusions:

• The 'u-Rob' system offers a versatile and advanced solution for upper limb rehabilitation in post-stroke patients.
• The integration of interaction force measurement significantly enhances human-robot interaction and provides valuable clinical data.
• This research advances rehabilitation robotics by combining dual-mode operation with real-time force monitoring capabilities.