Cargando…
A Framework for Determining the Performance and Requirements of Cable-Driven Mobile Lower Limb Rehabilitation Exoskeletons
The global increase in the number of stroke patients and limited accessibility to rehabilitation has promoted an increase in the design and development of mobile exoskeletons. Robot-assisted mobile rehabilitation is rapidly emerging as a viable tool as it could provide intensive repetitive movement...
Autores principales: | , , , , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2022
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9251017/ https://www.ncbi.nlm.nih.gov/pubmed/35795162 http://dx.doi.org/10.3389/fbioe.2022.920462 |
_version_ | 1784739943004766208 |
---|---|
author | Prasad, Rajan El-Rich, Marwan Awad, Mohammad I. Hussain, Irfan Jelinek, H.F. Huzaifa, Umer Khalaf, Kinda |
author_facet | Prasad, Rajan El-Rich, Marwan Awad, Mohammad I. Hussain, Irfan Jelinek, H.F. Huzaifa, Umer Khalaf, Kinda |
author_sort | Prasad, Rajan |
collection | PubMed |
description | The global increase in the number of stroke patients and limited accessibility to rehabilitation has promoted an increase in the design and development of mobile exoskeletons. Robot-assisted mobile rehabilitation is rapidly emerging as a viable tool as it could provide intensive repetitive movement training and timely standardized delivery of therapy as compared to conventional manual therapy. However, the majority of existing lower limb exoskeletons continue to be heavy and induce unnecessary inertia and inertial vibration on the limb. Cable-driven exoskeletons can overcome these issues with the provision of remote actuation. However, the number of cables and routing can be selected in various ways posing a challenge to designers regarding the optimal design configuration. In this work, a simulation-based generalized framework for modelling and assessment of cable-driven mobile exoskeleton is proposed. The framework can be implemented to identify a ‘suitable’ configuration from several potential ones or to identify the optimal routing parameters for a given configuration. For a proof of concept, four conceptual configurations of cable-driven exoskeletons (one with a spring) were developed in a manner where both positive and negative moments could be generated for each joint (antagonistic configuration). The models were analyzed using the proposed framework and a decision metric table has been developed based on the models’ performance and requirements. The weight of the metrics can be adjusted depending on the preferences and specified constraints. The maximum score is assigned to the configuration with minimum requirement or error, maximum performance, and vice versa. The metric table indicated that the 4-cable configuration is a promising design option for a lower limb rehabilitation exoskeleton based on tracking performance, model requirements, and component forces exerted on the limb. |
format | Online Article Text |
id | pubmed-9251017 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-92510172022-07-05 A Framework for Determining the Performance and Requirements of Cable-Driven Mobile Lower Limb Rehabilitation Exoskeletons Prasad, Rajan El-Rich, Marwan Awad, Mohammad I. Hussain, Irfan Jelinek, H.F. Huzaifa, Umer Khalaf, Kinda Front Bioeng Biotechnol Bioengineering and Biotechnology The global increase in the number of stroke patients and limited accessibility to rehabilitation has promoted an increase in the design and development of mobile exoskeletons. Robot-assisted mobile rehabilitation is rapidly emerging as a viable tool as it could provide intensive repetitive movement training and timely standardized delivery of therapy as compared to conventional manual therapy. However, the majority of existing lower limb exoskeletons continue to be heavy and induce unnecessary inertia and inertial vibration on the limb. Cable-driven exoskeletons can overcome these issues with the provision of remote actuation. However, the number of cables and routing can be selected in various ways posing a challenge to designers regarding the optimal design configuration. In this work, a simulation-based generalized framework for modelling and assessment of cable-driven mobile exoskeleton is proposed. The framework can be implemented to identify a ‘suitable’ configuration from several potential ones or to identify the optimal routing parameters for a given configuration. For a proof of concept, four conceptual configurations of cable-driven exoskeletons (one with a spring) were developed in a manner where both positive and negative moments could be generated for each joint (antagonistic configuration). The models were analyzed using the proposed framework and a decision metric table has been developed based on the models’ performance and requirements. The weight of the metrics can be adjusted depending on the preferences and specified constraints. The maximum score is assigned to the configuration with minimum requirement or error, maximum performance, and vice versa. The metric table indicated that the 4-cable configuration is a promising design option for a lower limb rehabilitation exoskeleton based on tracking performance, model requirements, and component forces exerted on the limb. Frontiers Media S.A. 2022-06-20 /pmc/articles/PMC9251017/ /pubmed/35795162 http://dx.doi.org/10.3389/fbioe.2022.920462 Text en Copyright © 2022 Prasad, El-Rich, Awad, Hussain, Jelinek, Huzaifa and Khalaf. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Bioengineering and Biotechnology Prasad, Rajan El-Rich, Marwan Awad, Mohammad I. Hussain, Irfan Jelinek, H.F. Huzaifa, Umer Khalaf, Kinda A Framework for Determining the Performance and Requirements of Cable-Driven Mobile Lower Limb Rehabilitation Exoskeletons |
title | A Framework for Determining the Performance and Requirements of Cable-Driven Mobile Lower Limb Rehabilitation Exoskeletons |
title_full | A Framework for Determining the Performance and Requirements of Cable-Driven Mobile Lower Limb Rehabilitation Exoskeletons |
title_fullStr | A Framework for Determining the Performance and Requirements of Cable-Driven Mobile Lower Limb Rehabilitation Exoskeletons |
title_full_unstemmed | A Framework for Determining the Performance and Requirements of Cable-Driven Mobile Lower Limb Rehabilitation Exoskeletons |
title_short | A Framework for Determining the Performance and Requirements of Cable-Driven Mobile Lower Limb Rehabilitation Exoskeletons |
title_sort | framework for determining the performance and requirements of cable-driven mobile lower limb rehabilitation exoskeletons |
topic | Bioengineering and Biotechnology |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9251017/ https://www.ncbi.nlm.nih.gov/pubmed/35795162 http://dx.doi.org/10.3389/fbioe.2022.920462 |
work_keys_str_mv | AT prasadrajan aframeworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT elrichmarwan aframeworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT awadmohammadi aframeworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT hussainirfan aframeworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT jelinekhf aframeworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT huzaifaumer aframeworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT khalafkinda aframeworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT prasadrajan frameworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT elrichmarwan frameworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT awadmohammadi frameworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT hussainirfan frameworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT jelinekhf frameworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT huzaifaumer frameworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons AT khalafkinda frameworkfordeterminingtheperformanceandrequirementsofcabledrivenmobilelowerlimbrehabilitationexoskeletons |