A 3 DOF pneumatic manipulandum for wrist rehabilitation
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Date
2020-09-24
Authors
Aleed, Yasser
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Abstract
Robotic assistive technologies are increasingly used to enhance the physical rehabilitation of patients who have suffered disorders such as strokes. Not only does it make the lives of disabled and elderly patients easier, but it also improves their body functionalities. Robotic assistive technologies offer people a second chance to overcome challenges that come with their disability.
The objective of the thesis is to design, prototype and evaluate a 3 Degrees of Freedom (DOF) pneumatic manipulandum for wrist rehabilitation that is capable of accommodating to wrist motions (ulnar deviation, radial deviation, flexion or extension). Since the wrist is the most mobile part of the hand, its post-stroke rehabilitation is difficult. In order to accommodate the wrist motion, 3 DOF are needed. 2 DOF are needed for the horizontal motion and another DOF to allow the manipulandum to move up and down with the wrist. Each DOF is actuated by one pneumatic actuator. The design is prototyped using a 3D printer. The workspace and the required force are analyzed and calculated based on the kinematics of the manipulandum. The pneumatic actuators that were chosen are available in non-magnetic material, which means they are compatible with Functional Magnetic Resonance Imaging (fMRI-compatible).
The manipulandum is connected to a Neuro Function Evaluation (NFE) game which is used in the Rehabilitation Centre in Winnipeg. While running the game, the manipulandum is tested and evaluated in assistive and resistive modes. The performance of the manipulandum is analyzed using two methods: image processing and file streaming. The image processing method determines the location of the ball and the location of the paddle of the NFE game in the screen by taking screenshots, while the file streaming method is used to obtain those two locations from the code of the game itself.
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Keywords
Robotics, Design, Pneumatic actuators, Manipulandum, Rehabilitation,
Citation
IEEE