DOI QR코드

DOI QR Code

Development of a Wrist Bending Rehabilitation Robot with a Three-axis Force Sensor

3축 힘 센서가 적용된 손목 굽힘 재활로봇 개발

  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
  • 김갑순 (경상대학교 제어계측공학과)
  • Received : 2015.10.05
  • Accepted : 2016.01.12
  • Published : 2016.01.29

Abstract

This paper describes the development of a rehabilitation robot that can provide wrist bending exercise to a severe stroke patient staying in a bed ward or at home. The developed rehabilitation robot has a three-axis force sensor which detects three directional force Fx, Fy, and Fz. The sensor measures a bending force (Fz) exerted on the wrist and the signal force (Fx and Fy) which can be used for the safety purpose. The robot was designed for severe stroke patients in bed, and the robot program was developed to perform a wrist bending rehabilitation exercise. In our tests including a nine-day experimental exercise, the developed force sensor-based robot operated effectively and safely.

Keywords

Acknowledgement

Supported by : 한국연구재단

References

  1. P. R. Culmer, A. E. Jackson, S. Makower, R. Richardson, J. A. Cozens, M. C. Levesley and B. B. Bhakta, "A control strategy for upper limb robotic rehabilitation with a dual robot system," IEEE/ASME Transactions on Mechatronics, Vol. 15, No. 4, pp. 575-585, August 2010. https://doi.org/10.1109/TMECH.2009.2030796
  2. L. Pan, A. Song, G. Xu, H. Li, H. Zeng and B. Xu, " Safety supervisory strategy for an upper-limb rehabilitation robot based on impedance control," International Journal of Advanced Robotic Systems, Vol. 10, pp. 1-12, 2013. https://doi.org/10.5772/52938
  3. H. Kim, L. M. Miller, I. Fedulow, M. Simkins, G. M. Abrams, N. Byl and J. Rosen, "Kinematic data analysis for post-stroke patients following bilateral versus unilateral rehabilitation with an upper limb wearable robotic system," IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 21, No. 2, March 2013.
  4. C. Li, Y. Inoue, T. Liu, K. Shibata and K. Oka, "A self-controlled robot for upper limb rehabilitation," Proceedings of the 2010 IEEE International Conference on Information and Automation, Harbin, China, pp. 115-118, June 2010.
  5. M. H. Rahman, M. Saad, J. P. Kenne, and P. S. Archambault, "Modeling and development of an exoskeleton robot for rehabilitation of wrist movements," Advanced Intelligent Mechatronics (AIM), IEEE/ASME International Conference on, pp. 25-30, 2010.
  6. B. C. Tsai, W. W. Wang, L. C. Hsu, L. C. Fu and J. S. Lai, "An articulated rehabilitation robot for upper limb physiotherapy and training," Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on, pp. 1470-1475, 2010.
  7. S. Liu, Y. Xie, S. Jiang and J. Meng, "Interactive control for the arm rehabilitation robot," Intelligent Systems and Applications, International Workshop on, pp. 1-4, 2009.
  8. W. Huo, J. Huang, Y. W. Jun and L. C. Wu, "Control of upper-limb power-assist exoskeleton based on motion intention recognition," IEEE International Conference on Robotics and Automation, pp.2243-2248, 2011.
  9. A. Umemura, Y. Saito and K. Fujisaki, "A study on power-assisted rehabilitation robot arms operated by patient with upper limb disabilities," Rehabilitation Robotics, ICORR, IEEE International Conference on, pp. 451-456, 2009.
  10. Y. Ren, H. S. Park and L. Q. Zhang, "Developing a wholearm exoskeleton robot with hand opening and closing mechanism for upper limb stroke rehabilitation," Rehabilitation Robotics, ICORR, IEEE International Conference on, pp. 761-765, 2009.
  11. K. Nagai, Y. Ito, M. Yazaki, K. Higuchi and S. Abe, "Development of a small six-component force/torque sensor based on the double-cross structure," Journal of the Robotics Society of Japan, Vol.22, No.3, pp. 361-369, 2004. https://doi.org/10.7210/jrsj.22.361
  12. G. S. Kim and J. J. Park, "Development of the 6-axis force/moment sensor for an intelligent robot's gripper," Sensors and Actuators A, Vol. 118, pp.127-134, 2005. https://doi.org/10.1016/S0924-4247(04)00538-2
  13. Y. G. Kim and G. S. Kim, "Design of six-axis Force/Moment sensor for ankle-rehabilitation robot," Journal of Institute of Control, Robotics and Systems, Vol. 19, No. 4, pp.357-363, 2013. https://doi.org/10.5302/J.ICROS.2013.13.1865
  14. G. S. Kim, "Design of a three-axis force sensor for wrist bending-exercise rehabilitation robot," Journal of Sensor Science and Technology, Vol. 22, No. 2, pp. 118-123, 2013. https://doi.org/10.5369/JSST.2013.22.2.118
  15. ATI Industrial Automation, "Multi-Axis Forcre/Torque Sensor," ATI Industrial Automation, pp. 4-45, 2005.
  16. G. S. Kim and J. W. Yoon, "Development of calibration system for multi-axis Force/Moment sensor and its uncertainty evaluation," Korean Society for Precision Engineering, Vol. 24, No. 10, pp. 91-98, 2007.