H-Shaped Cable-Driven Mechanism for Upper Body Rehabilitation
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Solution Overview
Problem
Current robotic devices for upper body rehabilitation, particularly for elbows and shoulders, face limitations such as high costs, complexity, and lack of portability, making them inaccessible to most stroke survivors, especially those with mild impairments, and often require highly trained personnel for safe operation.
Innovation Solution
A rehabilitation patient-robot interaction apparatus featuring a H-shaped cable-driven mechanism with two motors, a six-degree of freedom force/torque sensor, and a manipulandum for independent movement along x and y axes, providing low inertia and homogeneous impedance, which is cost-effective, portable, and easy to operate, allowing for patient-robot interaction in various settings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional robotic devices are used for upper body rehabilitation, then rehabilitation effectiveness is improved, but cost and device complexity increase significantly
Solution Approach 1:
The robotic device is segmented into modular components: a base unit with motors, a cable-driven manipulator with multiple carriages, and a control system. This segmentation allows each component to be optimized independently and simplifies manufacturing and maintenance while maintaining rehabilitation effectiveness
Solution Approach 2:
Cables serve as intermediaries to transmit force from the motors to the manipulator end-effector. This indirect force transmission mechanism reduces the complexity of direct mechanical coupling while maintaining precise control and force application for rehabilitation therapy
2Reliability
If conventional robotic devices are used for upper body rehabilitation, then rehabilitation effectiveness is improved, but portability deteriorates
Solution Approach 1:
The device replaces heavy rigid mechanical linkages with a cable-driven system. The cables transmit forces while allowing the manipulator to be lightweight and portable, yet still provide sufficient force for rehabilitation therapy through the cable tension mechanism
3Reliability
If conventional robotic devices are used for upper body rehabilitation, then rehabilitation effectiveness is improved, but ease of operation deteriorates
Solution Approach 1:
The device incorporates automatic cable tensioning mechanisms and sensor-based force control that self-regulate during operation. The system automatically adjusts to patient movements and provides appropriate resistance or assistance without requiring constant manual calibration by trained personnel
Solution Approach 2:
Force sensors and position encoders provide real-time feedback to the control system, which automatically adjusts motor commands to maintain appropriate interaction forces. This closed-loop control simplifies operation by eliminating the need for manual force calibration by trained operators
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus enables effective and accessible rehabilitation by providing a low-cost, portable, and user-friendly solution for upper body movement therapy, complementing existing robotic therapies and allowing for early discharge and continuous monitoring of patients, while reducing the need for highly trained personnel.
Implementation Method 1
a H-shaped cable-driven mechanism with two motors, two driving pulleys coupled to the two motors respectively
Data Source
Figure 1~3(c)
Figure 4~6
Figure 7(a)~8
AI summary
There is provided an apparatus for upper body movement. The apparatus comprises a H-shaped cable-driven mechanism; two motors for driving the H-shaped cable-driven mechanism; and a manipulandum coupled to the H-shaped cable-driven mechanism for independent movement along x and y axes.