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Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation

Marco Ceccarelli Orcid Logo, Matteo Russo Orcid Logo, Daniele Cafolla Orcid Logo, Betsy D. M. Chaparro-Rico Orcid Logo

Inventions, Volume: 6, Issue: 4, Start page: 85

Swansea University Author: Daniele Cafolla Orcid Logo

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Abstract

The operation safety of rehabilitation devices must be addressed early in the development process and before being tested on people. In this paper, the operation safety of a 2-DoF (degrees of freedom) planar mechanism for arm rehabilitation is addressed. Then, the safety and efficiency of the device...

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Published in: Inventions
ISSN: 2411-5134
Published: MDPI AG 2021
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa62493
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Abstract: The operation safety of rehabilitation devices must be addressed early in the development process and before being tested on people. In this paper, the operation safety of a 2-DoF (degrees of freedom) planar mechanism for arm rehabilitation is addressed. Then, the safety and efficiency of the device operation is assessed through the Transmission Index (TI) distribution in its workspace. Furthermore, the produced stresses on the human arm are assessed via the FEM (finite element method) when the rehabilitation device reaches five critical positions within its workspace. The TI distribution showed that the proposed design has a proper behaviour from a force transmission point of view, avoiding any singular configuration that might cause a control failure and subsequent risk for the user and supporting the user’s motion with a good efficiency throughout its operational workspace. The FEM analysis showed that Nurse operation is safe for the human arm since a negligible maximum stress of 6.55 × 103 N/m2 is achieved by the human arm when the device is located on the evaluated critical positions.
Keywords: mechanical design; arm rehabilitation; assistive device; neurorehabilitation; operation safety
College: Faculty of Science and Engineering
Issue: 4
Start Page: 85