Biomimetic design of an upper limb robotic exoskeleton for stroke and injury rehabilitation
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ID: 286671
2016
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Abstract
A 5-dof biomimetic design for an upper limb robotic exoskeleton used in therapy was developed to address the need for an accessible and reliable rehabilitation system. Stroke and injuries still remain as two of the leading causes of disability in the world. Robotic exoskeletons provide the necessary active or passive support in the same way as physical therapists do but without labor-intensive parameters such as cost of manpower and physical exhaustion. Because of the complexity of the human anatomy, most rehabilitation robots have been simplified to meet certain requirements. During this process, some discrepancies arise leading to the loss of biocompatibility between the actual user and the developed device. A biomimetic design approach was done to address this issue. A user needs analysis was performed to determine the technical requirements of the exoskeleton. The design of the links was inspired from the morphology of the bones and the muscle actuation process. Part and assembly designs were generated using the multi-platform CAD/CAM/CAE software CATIA v5. To test the movement of the assembled exoskeleton, forward kinematic solutions were calculated and simulated in CATIA v5’s Digital Mock-up Kinematics feature. Finite element analysis was also performed on the critical components of the device. Upon finalization of the design, each part was 3D printed using a MakerBot z18 Replicator. The 3D printed prototype was then subjected to kinematic compatibility tests via the OptiTrack Motion Capture System. Finally, the design was evaluated and validated by the medical doctors of the Department of Rehabilitation Medicine at Philippine General Hospital. Overall, the design and development of a 5-dof robotic exoskeleton prototype for upper limb therapy was successful. This rehabilitation device through its design and features aims to improve the accessibility and reliability of stroke and injury therapy not only in the Philippines but in the developing regions as well.
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| Authors | Baniqued, Paul Dominick E. |
| Journal | Malay Journal |
| Year | 2016 |
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| Keywords | Keywords not found |
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