Multi-Domain Dynamic Modelling of a Low-Cost Upper Limb Rehabilitation Robot
Tracking patient progress through a course of robotic tele-rehabilitation requires constant position data logging and comparison, alongside periodic testing with no powered assistance. The test data must be compared with previous test attempts and an ideal baseline, for which a good understanding of...
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Published in | Robotics (Basel) Vol. 10; no. 4; p. 134 |
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Main Authors | , , , |
Format | Journal Article |
Language | English |
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MDPI AG
01.12.2021
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Abstract | Tracking patient progress through a course of robotic tele-rehabilitation requires constant position data logging and comparison, alongside periodic testing with no powered assistance. The test data must be compared with previous test attempts and an ideal baseline, for which a good understanding of the dynamics of the robot is required. The traditional dynamic modelling techniques for serial chain robotics, which involve forming and solving equations of motion, do not adequately describe the multi-domain phenomena that affect the movement of the rehabilitation robot. In this study, a multi-domain dynamic model for an upper limb rehabilitation robot is described. The model, built using a combination of MATLAB, SimScape, and SimScape Multibody, comprises the mechanical electro-mechanical and control domains. The performance of the model was validated against the performance of the robot when unloaded and when loaded with a human arm proxy. It is shown that this combination of software is appropriate for building a dynamic model of the robot and provides advantages over the traditional modelling approach. It is demonstrated that the responses of the model match the responses of the robot with acceptable accuracy, though the inability to model backlash was a limitation. |
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AbstractList | Tracking patient progress through a course of robotic tele-rehabilitation requires constant position data logging and comparison, alongside periodic testing with no powered assistance. The test data must be compared with previous test attempts and an ideal baseline, for which a good understanding of the dynamics of the robot is required. The traditional dynamic modelling techniques for serial chain robotics, which involve forming and solving equations of motion, do not adequately describe the multi-domain phenomena that affect the movement of the rehabilitation robot. In this study, a multi-domain dynamic model for an upper limb rehabilitation robot is described. The model, built using a combination of MATLAB, SimScape, and SimScape Multibody, comprises the mechanical electro-mechanical and control domains. The performance of the model was validated against the performance of the robot when unloaded and when loaded with a human arm proxy. It is shown that this combination of software is appropriate for building a dynamic model of the robot and provides advantages over the traditional modelling approach. It is demonstrated that the responses of the model match the responses of the robot with acceptable accuracy, though the inability to model backlash was a limitation. |
Author | Levesley, Martin C. Metcalf, Adam G. Jackson, Andrew E. Gallagher, Justin F. |
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Cites_doi | 10.1186/1743-0003-11-163 10.1111/ane.13392 10.1109/ICORR.2007.4428535 10.1007/978-3-031-79653-1 10.1109/86.662623 10.1161/STROKEAHA.120.029606 10.1016/j.jstrokecerebrovasdis.2020.105182 10.1017/9781316661239 10.18203/2394-6040.ijcmph20183439 10.1016/S0140-6736(19)31055-4 10.1109/ICRA.2015.7139807 10.1111/ene.14375 10.1145/1501750.1501839 10.1186/1743-0003-1-5 10.1017/cjn.2020.74 10.1080/11762320902840179 10.1016/j.nrleng.2020.04.013 10.1016/S1474-4422(13)70305-3 10.1161/STROKEAHA.120.032253 |
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Copyright | 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. |
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References | Sivan (ref_5) 2014; 11 Krebs (ref_6) 1988; 6 Wafa (ref_2) 2020; 51 (ref_16) 2020; 35 Wang (ref_17) 2020; 29 Blanco (ref_9) 2014; 13 ref_21 ref_20 Nef (ref_8) 2009; 6 ref_1 Rodgers (ref_10) 2019; 394 Douiri (ref_14) 2021; 52 ref_19 ref_18 ref_15 Alrabghi (ref_3) 2018; 5 Bersano (ref_11) 2020; 27 Kristoffersen (ref_13) 2021; 143 ref_4 Smith (ref_12) 2020; 47 Krebs (ref_7) 2004; 1 |
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SubjectTerms | computational modelling Coronaviruses COVID-19 Data logging Domains dynamic modelling Dynamic models Equations of motion MATLAB Modelling Pandemics Patients Rehabilitation rehabilitation robotics Rehabilitation robots Robotics Robots Simulation Simulink Social distancing Software Stroke |
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Title | Multi-Domain Dynamic Modelling of a Low-Cost Upper Limb Rehabilitation Robot |
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