A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results
One of the most interesting characteristics of collaborative robots is their ability to be used in close cooperation scenarios. In industry, this facilitates the implementation of human-in-loop workflows. However, this feature can also be exploited in different fields, such as healthcare. In this pa...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-09-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/17/7652 |
| _version_ | 1827727703368794112 |
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| author | Giorgia Chiriatti Luca Carbonari Maria Gabriella Ceravolo Elisa Andrenelli Marzia Millevolte Giacomo Palmieri |
| author_facet | Giorgia Chiriatti Luca Carbonari Maria Gabriella Ceravolo Elisa Andrenelli Marzia Millevolte Giacomo Palmieri |
| author_sort | Giorgia Chiriatti |
| collection | DOAJ |
| description | One of the most interesting characteristics of collaborative robots is their ability to be used in close cooperation scenarios. In industry, this facilitates the implementation of human-in-loop workflows. However, this feature can also be exploited in different fields, such as healthcare. In this paper, a rehabilitation framework for the upper limbs of neurological patients is presented, consisting of a collaborative robot that helps users perform three-dimensional trajectories. Such a practice is aimed at improving the coordination of patients by guiding their motions in a preferred direction. We present the mechatronic setup, along with a preliminary experimental set of results from 19 volunteers (patients and control subjects) who provided positive feedback on the training experience (52% of the subjects would return and 44% enjoyed performing the exercise). Patients were able to execute the exercise, with a maximum deviation from the trajectory of 16 mm. The muscular effort required was limited, with average maximum forces recorded at around 50 N. |
| first_indexed | 2024-03-10T23:12:00Z |
| format | Article |
| id | doaj.art-037d4937ada447cb81ef3ffedaa337a4 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T23:12:00Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-037d4937ada447cb81ef3ffedaa337a42023-11-19T08:52:44ZengMDPI AGSensors1424-82202023-09-012317765210.3390/s23177652A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental ResultsGiorgia Chiriatti0Luca Carbonari1Maria Gabriella Ceravolo2Elisa Andrenelli3Marzia Millevolte4Giacomo Palmieri5Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, ItalyDepartment of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, ItalyDepartment of Experimental and Clinical Medicine, Polytechnic University of Marche, 60131 Ancona, ItalyDepartment of Experimental and Clinical Medicine, Polytechnic University of Marche, 60131 Ancona, ItalyNeurorehabilitation Clinic, Ancona University Hospital, 60131 Ancona, ItalyDepartment of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, ItalyOne of the most interesting characteristics of collaborative robots is their ability to be used in close cooperation scenarios. In industry, this facilitates the implementation of human-in-loop workflows. However, this feature can also be exploited in different fields, such as healthcare. In this paper, a rehabilitation framework for the upper limbs of neurological patients is presented, consisting of a collaborative robot that helps users perform three-dimensional trajectories. Such a practice is aimed at improving the coordination of patients by guiding their motions in a preferred direction. We present the mechatronic setup, along with a preliminary experimental set of results from 19 volunteers (patients and control subjects) who provided positive feedback on the training experience (52% of the subjects would return and 44% enjoyed performing the exercise). Patients were able to execute the exercise, with a maximum deviation from the trajectory of 16 mm. The muscular effort required was limited, with average maximum forces recorded at around 50 N.https://www.mdpi.com/1424-8220/23/17/7652collaborative roboticsrehabilitationhuman–robot interactioninteraction perception |
| spellingShingle | Giorgia Chiriatti Luca Carbonari Maria Gabriella Ceravolo Elisa Andrenelli Marzia Millevolte Giacomo Palmieri A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results Sensors collaborative robotics rehabilitation human–robot interaction interaction perception |
| title | A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results |
| title_full | A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results |
| title_fullStr | A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results |
| title_full_unstemmed | A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results |
| title_short | A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results |
| title_sort | robot assisted framework for rehabilitation practices implementation and experimental results |
| topic | collaborative robotics rehabilitation human–robot interaction interaction perception |
| url | https://www.mdpi.com/1424-8220/23/17/7652 |
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