description - instead technologies · therapy summary of results in comparison with conventional...
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Parque tecnológico de la Universidad Miguel Hernández,
Avda. de la Universidad s/n 03202, Elche (Spain) +34 965 222017
info@instead‐technologies.com
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DESCRIPTION
ROBOTHERAPIST is based on a four bar mechanism. The mechanism is configured as
a generic planar two‐dimensional manipulator and optimized for delivering
rehabilitation therapies, in which end‐point impedance must be minimized.
ROBOTHERAPIST consist of a two‐dimensional manipulator fixed to a table, a tactile
monitor with a custom developed software which is used as a Graphical User
Interface to display activities in coordination with the robot’s movement and a
computer to implement real‐time control of the two pneumatic actuators.
Pneumatic actuators originally limited to simple motion between two hard stops,
are now becoming more and more popular, and substituting in many cases electric
drives. Especially robots intended to cooperate with humans, such as
ROBOTHERAPIST requires drives compliant and safe. The most apparent property of
a pneumatic system is that of compliant actuation by virtue of the compressibility of
air. Moreover, this kind of actuators can exert enough driving power despite being
lightweight and having a small size because the ratio of its out put power to its
weight is large. In short, a pneumatic swivel module with angular displacement
encoder has been used as an actuator for each joint .
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Suitable for both arms
• One of the most important characteristics is the possibility ofworking with both hands without necessity of changing theposition or the configuration of the robotic arm or patients,thanks of the end‐effector.
Light & resistant• ROBOTHERAPIST2D is based on a light, resistant and simplestructure. The result was a 2‐degree of freedom system withthe actuators placed in the base.
Reliable & safe
• Knowing that the robotic system has been designed for therehabilitation of the upper extremity, it is vital to focus ongetting a reliable interaction human‐machine. Pneumaticactuation is used since it provides the system with greatflexibility and inherent security.
Wide working range
The four bar mechanism has been designed using the information provided by a
previous analysis of reaching activities and a simple model of human arm reachable
workspace (ARW) 15. The kinematic data of the human arm during different
reaching tasks were collected using two wireless inertial measurement units (IMUs)
attached to subject’s arm and forearm. For each arm motion, the rotation matrix of
each IMU was computed. Using the simplified kinematic model of human arm and
the information provided by the IMUs, 2D trajectories for each reaching task in the
worst case were computed. The final conclusion of this analysis was that desired
workspace that can be reached by an adult arm is an ellipse with its major and minor
axis equal to 1200mm and 600mm respectively as shown in Figure.
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User Interface Software
A sample image of activities is shown.
Moreover, visual and sound
reinforcements are implemented to
motivate the patient when he or she
realizes any activity successfully.
Otherwise, the implemented software
shows images and plays sounds to
relax the patient after any activity.
Finally, the user interface software
makes a data base with all patient
data and their evolution with the aim
to make easier the study of the
patients evolution and to decide the
therapy plan by the therapist.
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BENEFITS
Robots Patient
Assistance Interactive
Technologies Price
Aprox. €Counterbalance Electric Pneumatic
Armeo Boom 25000
Armeo Spring 60000
MIT‐Manus/ Inmotion 65000
ReoGo 65000
Rebotherapist 45000
A key aspect when developing a rehabilitation robot is safety in interaction with
humans and more so when interacting with people with impaired motor function
due to brain damage. There are two possibilities for providing security during the
interaction by controlling the drives of the robot, and by using intrinsically safe
actuators to absorb the undesired forces that occur in human‐robot interaction.
Pneumatic actuators use air as the main source of energy. Due to the
compressibility of air, these drives are able to dissipate unwanted forces that
appear during interactions. Since the technology is less complex compared to other
similar systems the repair costs are kept to a minimum. Another advantage of this
type of actuators is that they have a large force to weight ratio, thanks to this
feature , a more lightweight mechanism is achieved with less inertia, resulting in a
more secure and robust system.
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CLINICAL RESEARCH
Publications:
F. J. Badesa, R. Morales, N. García‐Aracil, J. M. Sabater, C. Pérez‐Vidal and E. Fernández, Multimodal
interfaces to improve therapeutic outcomes in robot‐assisted rehabilitation, Transactions on Systems,
Man, and Cybernetics– Part C: Applications and Reviews, vol.42, no.6, pp.1152‐1158, November 2012.
ISSN: 1094‐697
A. Llinares, F. J. Badesa, R. Morales, N. Garcia‐Aracil, J. M. Sabater, E. Fernández, Robotic assessment of
the influence of age on upper‐limb sensorimotor function, Clinical Interventions in Aging, vol. 2013:8,
pp. 879 ‐ 888, Julio 2013. ISSN: 1176‐9092.
F. J. Badesa, A. Llinares, R. Morales, N. Garcia‐Aracil, J. M. Sabater, C. Perez‐Vidal, Pneumatic planar
rehabilitation robot for chronic stroke patients, Biomedical Engineering: Applications, Basis and
Communications.
F. J. Badesa, R. Morales, N. Garcia‐Aracil, J. M. Sabater, A. Casals, L. Zollo, Auto‐adaptive robot‐aided
therapy using machine learning techniques, Computer Methods and Programs in Biomedicine.
Patent:
ROBOTIC ARM FOR CONTROLLING ARM MOVEMENT
Inventors: Jose Maria SABATER NAVARRO, Eduardo FERNÁNDEZ JOVER, Nicolas Manuel GARCIA
ARACIL, Jose Maria AZORIN POVEDA, Carlos PEREZ VIDAL
Publication date 2010/2/18 ,Patent office WO, Patent number WO/2010/018283
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CLINICAL RESEARCH COMPARISON
* Won Hyuk Chang Yun‐Hee Kima, Robot‐assisted Therapy in Stroke Rehabilitation, Journal of Stroke
2013;15(3):174‐181
Authors Robotic device
Number of participants
Stroke stage Intensity Concomitant therapy
Summary of results in comparison with
conventional therapies
Upper Limb function
Activities of aily living
*Lum et al., 2006 MIME 30 Subacute
1 hour, 15 sessions over
4 weeks No
No difference
No difference
*Masiero et al., 2007 NeReBot 35 Subacute
4 hours per week for 5 weeks
Yes No
difference More
effective
*Volpe et al., 2008 InMotion2 21 Chronic
1 hour, 3 times per week for 6 weeks
No No
difference No
difference
*Lo et al., 2010 MIT‐MANUS
127 Chronic
a maximum of 36 sessions
over 12 weeks
No More
effective Not assessed
*Burgar et al., 2011 MIME 54 Subacute
1 hour, 5 times per week for 3 weeks
No No
difference No
difference
*Conroy et al., 2011
InMotion 2.0
Shoulder/Arm Robot
57 Chronic
1 hour, 3 sessions per week for 6 weeks
No No
difference More
effective
Garcia‐Aracil et al, 2014
Robotherapist
61 Chronic
1 hour, 3 times per week for 10
weeks
No More
effective More
effective
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TECHNICALS SPECIFITIONS
Type of action Pneumatic
Degrees of freedom 2
Actuator pneumatic rotary modules
Operating Pressure 6‐‐‐10 BARS
Supply Voltage 230 Vac
Operating Voltage 24 Vdc
Sensing Voltage 10 Vdc
Maximum force per actuator 5 Nm
Emergency Stop EN418. Category 4 (DIN EN954‐‐‐1)
Operating Temperature 0 … 40 °C
Power Consumption Max. 150 W
Connection voltage Conector IECC 13
Connecting air supply Plug type
Communication ‐‐‐ Robot‐Pc ETHERNET, distribution 568A‐‐‐568B. Fluid Filtered compressed air, without lubrication
Maximum frequency of rotation 2 Hz
Nominal flow 0,005 m3/min
Worktop Aprox. 0,5 m2
Base dimensions 500x500 mm
Total height of the robot 1150 mm MAX. Weight 80 Kg
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Parque tecnológico de la Universidad Miguel Hernández,
Avda. de la Universidad s/n 03202, Elche (Spain) +34 965 222017
info@instead‐technologies.com