Wrist and fingers rehabilitation device Jaroslav Sobota, Jan Kutlwašer.

Wrist and fingers rehabilitation device

Jaroslav Sobota, Jan Kutlwašer

Wrist and finger home rehabilitation device

• Rehabilitation of wrist and fingers after surgical treatment of flexor/extensor tendons

• Rehabilitation of neurological pacients – stroke, brain and spinal cord injury, Parkinson disease, multiple sclerosis

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Smart mechatronic device complementing or replacing existing mechanical aids

MRH device requirements

User:

•Intuitive graphical interface, ideally making the excersises fun

•Ergonomic design

M.D. / Physiotherapist:

•Remote monitoring of rehabilitation activities (frequency, efectiveness)

•Remote adjustment of the excersises

Manufacturer / Service provider:

•Remote functionality diagnostics and service (firmware upgrade)

Legislative and regulatory:

•Safety, data security

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Project team

Department of Cybernetics

•R&D in embedded and distributed control systems and algorithms for process control, robotics and mechatronics

Department of Machine Design

•Prototype development•New study programme „Construction of medical equipment“

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Brief description of the device

• Exoskeleton architecture• Real-time measurement and

control• Graphical user interface• Data archiving, remote

access

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Control algorithm

• Graphical programming in the REX control system

• Bottom-up development

• Individual control of each phalanx in continuous passive motion (CPM) mode

• Defined velocity, acceleration and maximum angle

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Definition of exercises

• Sequential state machine programmed in SFC Editor

• Chain of conditioned actions

• Each state triggers movements of individual phalanxes

• Once the transition condition is fulfilled (angle is reached), next state is activated

• Once all the actions are performed, the cycle returns to initial state and can be repeated

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User interface

• Java-based visualization framework

• Real-time visualization of the exercise- animated 3D models (based on measured data)- running 2D plots (based on measured data)- exercise parameters

• Can be used locally or for remote supervision

• Straightforward design from CAD drawing

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Simulation of exercises

• Verification and/or visualization of the exercise

• Avoiding movements beyond ROM

• Preparing patient for the exercise

• Minor changes for guiding the patient through active exercises, the requested movement or target position is displayed

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Highlights of our approach

• REX control system is compatible with Matlab/Simulink

• Control algorithm can be easily verified before deployment

• No coding required, transfer to target platform is straightforward

• Visualization and user interface framework is available

• All parameters of the exercises can be changed over the internet

• Records of exercises are stored and can be used to evaluate the progress of rehabilitation treatment

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Philosophy of hand rehabilitation device

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• Whole device is modular assembly

• there are two basis (one for left hand and one for right hand)

• “fingers” of mechanism are in different sizes for each phalanx

• thumb’s holder is in more than one size

• servos, screws, are the same

• Fingerholders are cleanable or changeable

Philosophy of hand rehabilitation device

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Hand rehabilitation device cycle

device is assembledfor specific patient

device is assembledfor specific patient

patient use it

at home

patient use it

at home

patient returnsthe device

patient returnsthe device

the device is disassembledthe device is disassembled

some parts arerenewed

some parts arerenewed

exercise program setupby therapist

exercise program setupby therapist

parts are storedfor new usage

parts are storedfor new usage

therapist checks theexercise and changes

exercise program values

therapist checks theexercise and changes

exercise program values

wastewaste

new parts

new parts

exce

rcis

e da

ta

exce

rcis

e da

ta

Simplified design – the 1st design

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Simplified design – the new one

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Simplified design – pros and cons

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• Advantages of the new design:

• less number of parts

• easiest assembly

• measuring system in the servos could be used

• Disadvantages of the new design:

• rods of mechanism are slightly moved from center of axis

1st physical prototype

•Prototype for software tests and modularity tests•Designed in “Design for Cost” philosophy

Summary

• Insight into research and development at UWB within the MRH project

• The software and hardware part of the hand rehabilitation device

• The development continues …

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Summary

• Insight into research and development at UWB within the MRH project

• The software and hardware part of the hand rehabilitation device

• The development continues …

Thank you for your attention

Contact:

Jaroslav Sobota ([email protected])

Jan Kutlwašer ([email protected])

Josef Formánek ([email protected])

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