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Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation
Inventions, Volume: 6, Issue: 4, Start page: 85
Swansea University Author: Daniele Cafolla
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© 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
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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...
Published in: | Inventions |
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ISSN: | 2411-5134 |
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MDPI AG
2021
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URI: | https://cronfa.swan.ac.uk/Record/cronfa62493 |
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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 |
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facultyofscienceandengineering |
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Faculty of Science and Engineering |
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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 |
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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 |
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1763754460568354816 |
score |
11.035349 |