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Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation

Marco Ceccarelli Orcid Logo, Matteo Russo Orcid Logo, Daniele Cafolla Orcid Logo, Betsy D. M. Chaparro-Rico Orcid Logo

Inventions, Volume: 6, Issue: 4, Start page: 85

Swansea University Author: Daniele Cafolla Orcid Logo

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DOI (Published version): 10.3390/inventions6040085

Abstract

The operation safety of rehabilitation devices must be addressed early in the development process and before being tested on people. In this paper, the operation safety of a 2-DoF (degrees of freedom) planar mechanism for arm rehabilitation is addressed. Then, the safety and efficiency of the device...

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Published in: Inventions
ISSN: 2411-5134
Published: MDPI AG 2021
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URI: https://cronfa.swan.ac.uk/Record/cronfa62493
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first_indexed 2023-03-01T16:49:12Z
last_indexed 2023-03-02T04:17:37Z
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spelling 2023-03-01T16:53:02.7466377 v2 62493 2023-02-03 Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2023-02-03 SCS The operation safety of rehabilitation devices must be addressed early in the development process and before being tested on people. In this paper, the operation safety of a 2-DoF (degrees of freedom) planar mechanism for arm rehabilitation is addressed. Then, the safety and efficiency of the device operation is assessed through the Transmission Index (TI) distribution in its workspace. Furthermore, the produced stresses on the human arm are assessed via the FEM (finite element method) when the rehabilitation device reaches five critical positions within its workspace. The TI distribution showed that the proposed design has a proper behaviour from a force transmission point of view, avoiding any singular configuration that might cause a control failure and subsequent risk for the user and supporting the user’s motion with a good efficiency throughout its operational workspace. The FEM analysis showed that Nurse operation is safe for the human arm since a negligible maximum stress of 6.55 × 103 N/m2 is achieved by the human arm when the device is located on the evaluated critical positions. Journal Article Inventions 6 4 85 MDPI AG 2411-5134 mechanical design; arm rehabilitation; assistive device; neurorehabilitation; operation safety 15 11 2021 2021-11-15 10.3390/inventions6040085 COLLEGE NANME Computer Science COLLEGE CODE SCS Swansea University 2023-03-01T16:53:02.7466377 2023-02-03T14:15:36.7397070 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Marco Ceccarelli 0000-0001-9388-4391 1 Matteo Russo 0000-0002-8825-8983 2 Daniele Cafolla 0000-0002-5602-1519 3 Betsy D. M. Chaparro-Rico 0000-0002-6874-2508 4 62493__26720__d1cedce988164e4694b51a06599c26c2.pdf 62493_VoR.pdf 2023-03-01T16:49:50.7450922 Output 4740558 application/pdf Version of Record true © 2021 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license true eng https://creativecommons.org/licenses/by/4.0/
title Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
spellingShingle Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
Daniele Cafolla
title_short Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
title_full Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
title_fullStr Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
title_full_unstemmed Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
title_sort Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
author_id_str_mv ac4feae4da44720e216ab2e0359e4ddb
author_id_fullname_str_mv ac4feae4da44720e216ab2e0359e4ddb_***_Daniele Cafolla
author Daniele Cafolla
author2 Marco Ceccarelli
Matteo Russo
Daniele Cafolla
Betsy D. M. Chaparro-Rico
format Journal article
container_title Inventions
container_volume 6
container_issue 4
container_start_page 85
publishDate 2021
institution Swansea University
issn 2411-5134
doi_str_mv 10.3390/inventions6040085
publisher MDPI AG
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science
document_store_str 1
active_str 0
description The operation safety of rehabilitation devices must be addressed early in the development process and before being tested on people. In this paper, the operation safety of a 2-DoF (degrees of freedom) planar mechanism for arm rehabilitation is addressed. Then, the safety and efficiency of the device operation is assessed through the Transmission Index (TI) distribution in its workspace. Furthermore, the produced stresses on the human arm are assessed via the FEM (finite element method) when the rehabilitation device reaches five critical positions within its workspace. The TI distribution showed that the proposed design has a proper behaviour from a force transmission point of view, avoiding any singular configuration that might cause a control failure and subsequent risk for the user and supporting the user’s motion with a good efficiency throughout its operational workspace. The FEM analysis showed that Nurse operation is safe for the human arm since a negligible maximum stress of 6.55 × 103 N/m2 is achieved by the human arm when the device is located on the evaluated critical positions.
published_date 2021-11-15T04:22:09Z
_version_ 1763754460568354816
score 11.036706

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