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

Marcela, Betsy Dayana; Ceccarelli, Marco; Russo, Matteo; Cafolla, Daniele; M., Betsy D.

doi:10.3390/inventions6040085

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

Betsy Dayana Marcela Chaparro Rico

, Marco Ceccarelli

, Matteo Russo

, Daniele Cafolla

, Betsy D. M. Chaparro-Rico

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

Swansea University Authors: Betsy Dayana Marcela Chaparro Rico , Daniele Cafolla

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DOI (Published version): 10.3390/inventions6040085

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

first_indexed	2023-03-01T16:49:12Z
last_indexed	2023-03-02T04:17:37Z
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spelling	2023-03-01T16:53:02.7466377 v2 62493 2023-02-03 Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation fab062f51ecae36a295bd5c53e03fef5 0000-0002-6874-2508 Betsy Dayana Marcela Chaparro Rico Betsy Dayana Marcela Chaparro Rico true false ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2023-02-03 MACS 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. Journal Article Inventions 6 4 85 MDPI AG 2411-5134 mechanical design; arm rehabilitation; assistive device; neurorehabilitation; operation safety 15 11 2021 2021-11-15 10.3390/inventions6040085 COLLEGE NANME Mathematics and Computer Science School COLLEGE CODE MACS Swansea University 2023-03-01T16:53:02.7466377 2023-02-03T14:15:36.7397070 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Betsy Dayana Marcela Chaparro Rico 0000-0002-6874-2508 1 Marco Ceccarelli 0000-0001-9388-4391 2 Matteo Russo 0000-0002-8825-8983 3 Daniele Cafolla 0000-0002-5602-1519 4 Betsy D. M. Chaparro-Rico 0000-0002-6874-2508 5 62493__26720__d1cedce988164e4694b51a06599c26c2.pdf 62493_VoR.pdf 2023-03-01T16:49:50.7450922 Output 4740558 application/pdf Version of Record true © 2021 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license true eng https://creativecommons.org/licenses/by/4.0/
title	Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
spellingShingle	Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation Betsy Dayana Marcela Chaparro Rico Daniele Cafolla
title_short	Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
title_full	Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
title_fullStr	Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
title_full_unstemmed	Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
title_sort	Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
author_id_str_mv	fab062f51ecae36a295bd5c53e03fef5 ac4feae4da44720e216ab2e0359e4ddb
author_id_fullname_str_mv	fab062f51ecae36a295bd5c53e03fef5_*_Betsy Dayana Marcela Chaparro Rico ac4feae4da44720e216ab2e0359e4ddb_*_Daniele Cafolla
author	Betsy Dayana Marcela Chaparro Rico Daniele Cafolla
author2	Betsy Dayana Marcela Chaparro Rico Marco Ceccarelli Matteo Russo Daniele Cafolla Betsy D. M. Chaparro-Rico
format	Journal article
container_title	Inventions
container_volume	6
container_issue	4
container_start_page	85
publishDate	2021
institution	Swansea University
issn	2411-5134
doi_str_mv	10.3390/inventions6040085
publisher	MDPI AG
college_str	Faculty of Science and Engineering
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department_str	School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science
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description	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.
published_date	2021-11-15T20:19:18Z
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Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation

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