Robotic Training System for Upper Limb Rehabilitation1

IntroIntroducción: Un exoesqueleto se conceptualiza como un mecanismo estructural externo cuyos segmentos y articulaciones se corresponden con las del cuerpo humano y es capaz de coordinar y amplificar sus movimientos. El objetivo del trabajo se enfoca en desarrollar una tecnología de plataforma robótica de asistencia y métodos de cuantificación para la rehabilitación motora de miembros superiores en ambientes clínicos y ambulatorios para pacientes con afecciones motoras como resultados de enfermedades cerebrovasculares.Métodos: Se presenta a partir de una concepción integradora el diseño del prototipo de un exoesqueleto que permite al paciente realizar movimientos combinados a partir de los cuatro grados de libertad que provee el dispositivo de rehabilitación. El sistema es controlado por medio de una interfaz de usuario desarrollada en Labview que soporta el control e interacción del usuario con el exoesqueleto, lo cual posibilita que el terapeuta puede modificar la rutina que debe realizar el paciente incluyendo nuevas trayectorias y el número de repeticiones a seguir por el exoesqueleto en las articulaciones de hombro, codo y muñeca. Adicionalmente, posibilita la retroalimentación visual de la actividad electromiográfica del paciente durante la rehabilitación.Resultados: Se presenta el diseño mecánico de la armadura, implementación de los sistemas de potencia, el desarrollo del sistema de control y de la interfaz de usuario así como su integración con el sistema mecánico.Conclusiones: Se desarrolla y pone en funcionamiento una avanzada plataforma robótica capaz de desarrollar diversas rutinas terapéuticas combinando 4 grados de libertad en hombro, codo y muñeca, capaz de controlar a través de la interfaz desarrollada desplazamientos regulados, exactos y repetitivos, así como seguir cronológicamente la evolución del paciente registrando la actividad mioeléctrica durante el proceso de rehabilitación.Background: Robot-assisted therapy or exoskeleton is an active mechanical device that can be easily adjusted to fit a different patient limb length, and is able to coordinate and amplify movements. The aim of this study focuses on developing a robotic training system and quantification methods for upper limbs rehabilitation in clinic environments to be used in survivor stroke patients with motor disorders or loss of physical strength on one side of the body.Methods: From an integrated approach, a design of one exoskeleton is presented which allows patients perform complex movements in four degrees of freedom (DOF) rehabilitation system. The system is controlled by means of user interface developed with Lab view v8.6 software that supports control and user interaction with the exoskeleton; so it’s possible for therapist to modify the patient routine including new movements and a number of repetitions in articulating joints of shoulder, elbow and wrist. On other hand system permits bio- feedback of electromyogram patient activity during rehabilitation sessions.Results: Biomechanical analyses and structure design, implementation of power systems, the development of the control system and user interface as well as its integration with the mechanical system is presented.Conclusions: A robot arm exoskeleton device with four DOF; able to develop complex, accurate and repetitive therapeutic routines for articulating joints of shoulder, elbow and wrist trough an interface is shown. The device permits to follow chronologically patient outcomes recording the electromyogram activity during rehabilitation progress. Background: Robot-assisted therapy or exoskeleton is anactive mechanical device that can be easily adjusted to fita different patient limb length, and is able to coordinateand amplify movements. The aim of this study focuses ondeveloping a robotic training system and quantificationmethods for upper limbs rehabilitation in clinic environmentsto be used in survivor stroke patients with motordisorders or loss of physical strength on one side of thebody. Methods: From an integrated approach, a design ofone exoskeleton is presented which allows patients performcomplex movements in four degrees of freedom (DOF)rehabilitation system. The system is controlled by means ofuser interface developed with Lab view v8.6 software thatsupports control and user interaction with the exoskeleton;so it’s possible for therapist to modify the patient routineincluding new movements and a number of repetitions inarticulating joints of shoulder, elbow and wrist. On otherhand system permits bio-feedback of electromyogrampatient activity during rehabilitation sessions. Results:Biomechanical analyses and structure design, implementationof power systems, the development of the controlsystem and user interface as well as its integration withthe mechanical system is presented. Conclusions: A robotarm exoskeleton device with four DOF; able to developcomplex, accurate and repetitive therapeutic routines forarticulating joints of shoulder, elbow and wrist trough aninterface is shown. The device permits to follow chronologicallypatient outcomes recording the electromyogramactivity during rehabilitation progress