CNC Machines for Rehabilitation: Ankle and Shoulder

Continuous passive motion (CPM) machines are used in the rehabilitation of members that have been injured to recover their range of motion and prevent stiffness. Nowadays, some CPM machines for the knee, ankle, arm, and elbow are available commercially. In this paper, ankle and shoulder rehabilitati...

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Published inMachines (Basel) Vol. 10; no. 11; p. 1055
Main Authors Blanco Ortega, Andrés, Magadán Salazar, Andrea, Guzmán Valdivia, César. H., Gómez Becerra, Fabio Abel, Palacios Gallegos, Manuel J., García Velarde, Miguel A., Santana Camilo, José Alfonso
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.11.2022
Subjects
Ankle
Brain
CNC machines
Control systems
Controllers
Elbow (anatomy)
G codes
Injury prevention
Numerical analysis
Numerical controls
parallel ankle rehabilitation robot
passive rehabilitation
Patients
Proportional integral
Rehabilitation
Rehabilitation robots
Robotics
Robots
Robust control
Sensors
Shoulder
shoulder rehabilitation robot
Stiffness
Stroke
Virtual prototyping
Mexico
Germany
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Summary:Continuous passive motion (CPM) machines are used in the rehabilitation of members that have been injured to recover their range of motion and prevent stiffness. Nowadays, some CPM machines for the knee, ankle, arm, and elbow are available commercially. In this paper, ankle and shoulder rehabilitation robots, based on an X-Y table, are presented. The novelty of these rehabilitation robots is that they have a computerized numerical control system, resulting in low-cost machines. Some G-codes for basic and combined movement routines for ankle and shoulder rehabilitation are presented. In addition, the use of a robust generalized PI controller is also proposed to guarantee safe rehabilitation movements and compensate for passive stiffness in the ankle joint of stroke survivors. Some numerical simulations are included to illustrate the dynamic performance of the robust Generalized Proportional Integral (GPI) controller using the virtual prototype.
ISSN:2075-1702
2075-1702
DOI:10.3390/machines10111055