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RUPERT WEARABLE: UPPER

EXTREMITY EXOSKELETON ROBOT FOR


CLINICL AND IN HOME THERAPIES

PRESENTED BY

ARCHANA S
ROLLNO:2
S1MEC

COLLEGE OF ENGINEERING CHENGANNUR

OVERVIEW
1.INTRODUCTION
2.PRESENT SYSTEM
3.RELATED WORKS
4.RUPERT EXOSKELETON ROBOT
5.SYSTEM DESIGN
6.CONTROLLER IMPLEMENTATION
7.EVALUATION OF PERFORMANCE
8.THERAPUTIC PROGRAM DESIGN
9.FUNCTIONAL ASSESSMENT
10.ADVANTAGES
11.LIMITATIONS
12.SCOPE
13.CONCLUSION
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INTRODUCTION

Repetitive training is the primary means


for restoring independence after a stroke
Traditional manually assisted training has
several major limitations.
To overcome these problems, we designed
an inexpensive wearable upper extremity
(UE) exoskeleton system to assist stroke
patients through reach training and other
selected activities in daily living

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PRESENT SYSTEM

Training is usually labor-intensive and


must be of shorter duration to ensure an
optimal therapeutic time due to the fatigue
of the therapists.
Manually
assisted
training
lacks
repeatability
and
objectively
dened
measures of patient performance and
progress

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RELATED WORKS

Following are various Rehabilitation robot


Bi-manu-track : A rehabilitation robot that
enables patients to perform units of underarm
pro- and -supination and exercises to train
wrist flexion and extension.

Mirror-image motion enabler: robotic device for


upper-limb neuro rehabilitation stroke patients

Neuro rehabilitation robot: Helps in process of


functional recovery following neurological
injuries such as stroke, spinal cord injury, and
traumatic brain injury
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PROBLEM DEFINITION

Most upper limb rehabilitation robots are


cumbersome and anchored to a base or
onto a wheelchair.
This design forces the patients into a
xed and uncomfortable position.
Heavy weight, disproportionate size,
and prohibitive price

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RUPERT EXOSKELETON
ROBOT

A wearable, portable, low-cost, and easyto-use upper extremity exoskeleton robot,


RUPERT, is presented here for clinical and
in-home therapies of patients who have
survived a stroke.

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SYSTEM DESIGN
MECHANICAL DESCRIPTION
The nal prototype robot has ve Degree of
freedoms
1) shoulder flexion/extension
2) humeral internal/external rotation
3) elbow flexion/extension
4) fore arm pronation/supination
5) wrist flexion/extension.

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For each DOF a pneumatic muscle is used


as an actuator to generate pulling force

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Pneumatic muscles are housed in carbon


ber tubes for protection and aesthetic
considerations
Paddings are used in the system for
comfort and adaptability to different body
sizes
Adjustable so it can t individuals with
various arm types
Mounted on a height adjustable holding
frame

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CONTROLLER IMPLEMENTATION

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Control
algorithm
characteristics:
An
outer
loop
specication,

has

the

controller

following
for

task

Joint trajectory planning,


Logics control for determining when to enable

on/off active assistance,


Performance evaluation

Inner loop controller


adaptive
proportional-integral-derivative
control
iterative learning to adjust control parameters
for individual user
joint synergy coordination control
Built in safety mechanisms

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where Pj xf , Pj+1 xf are the jth and (j+1)th


movement trial reference pressure signal
respectively,
j x : the joint angle at the jth movement
trial,

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EVALUATION OF PERFORMANCE
1.
2.
3.

Subject Recruitment
Therapeutic program design
Data analysis

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THERAPUTIC PROGRAM DESIGN

Each session consisted of N block of


exercises, with each block containing M
movement trials. There was a small rest
period between each trial (inter trial rest),
and a longer one between each block (inter
block rest)

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FUNCTIONAL ASSESSMENT

Outcome result
evaluation
Outcome result
evaluation

of
of

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phase-1
phase-2

Clinical
:

Home

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ADVANTAGES OVER OTHER


REHABILITATION ROBOTS

Each DoF of RUPERT is actuated by a single


pneumatic muscle that is lightweight,
powerful, and compliant, which results in
unidirectional actuation in the different
DoFs
This approach has two advantages:
1) Simplifying the design by using less
actuators and
2) Reducing the overall weight and cost

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LIMITATIONS

Effects of robot-assisted training are highly


variable on each individual.
Mechanical complexity

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SCOPE

The current version of the RUPERT robot


does not address the hand rehabilitation of
stroke patients,
The experimental results look promising
and the proposed robotic system exhibits a
good prospect for a future commercialized
in-home therapy product.

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CONCLUSION
The application of robotic therapy at home
may guide the rehabilitation of patients
with severe post-stroke impairment beyond
what is currently feasible

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