Path’s slicing analysis as a therapist’s intervention tool for robotic rehabilitation

Mozafar Saadat; Alireza Rastegarpanah; Che Zulkhairi Abdullah; Hamid Rakhodaei; Alberto Borboni; Marco Maddalena

doi:10.1007/978-3-319-61276-8_96

Path’s slicing analysis as a therapist’s intervention tool for robotic rehabilitation

Mozafar Saadat, Alireza Rastegarpanah^*, Che Zulkhairi Abdullah, Hamid Rakhodaei, Alberto Borboni, Marco Maddalena

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

The assisted limb rehabilitation process is commonly associated with advanced control of the affected limb through robotic assistance and human interference. The robotic element is only expected to be able to reproduce the motion suitable for large variations of patient’s condition within a reasonable accuracy and stiffness. Therapist’s intervention of fine-control is in the format of planar elements (like pelvis linkage) or joints (like knee), which relate to trajectory or orientation adjustments. The rehabilitation process has to consider the patient’s ability, limit and motion constraint that form those two factors. The parameters for controlling these is associated with kinematic, that defines the behaviour and characteristic of the lower limb. The developed 3D Python simulation system allows for this fine-tuning in the form of slice analysis and interval analysis. The results show that Bezier could be successfully used in various development aspects of parallel robots. The Hybrid and Hexapod robot configurations in this study can then be linked to a Haptic controller that runs on Python’s Haptic engine.

Original language	English
Title of host publication	Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
Editors	Carlo Ferraresi, Giuseppe Quaglia
Publisher	Springer
Pages	901-910
Number of pages	10
ISBN (Print)	9783319612751
DOIs	https://doi.org/10.1007/978-3-319-61276-8_96
Publication status	Published - 2018
Event	26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 - Turin, Italy Duration: 21 Jun 2017 → 23 Jun 2017

Publication series

Name	Mechanisms and Machine Science
Volume	49
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
Country/Territory	Italy
City	Turin
Period	21/06/17 → 23/06/17

Keywords

Bezier
Brownian motion
Parallel robot
Robotic rehabilitation
Slice analysis

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

Access to Document

10.1007/978-3-319-61276-8_96

Cite this

Saadat, M., Rastegarpanah, A., Abdullah, C. Z., Rakhodaei, H., Borboni, A., & Maddalena, M. (2018). Path’s slicing analysis as a therapist’s intervention tool for robotic rehabilitation. In C. Ferraresi, & G. Quaglia (Eds.), Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 (pp. 901-910). (Mechanisms and Machine Science; Vol. 49). Springer. https://doi.org/10.1007/978-3-319-61276-8_96

Saadat, Mozafar ; Rastegarpanah, Alireza ; Abdullah, Che Zulkhairi et al. / Path’s slicing analysis as a therapist’s intervention tool for robotic rehabilitation. Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. editor / Carlo Ferraresi ; Giuseppe Quaglia. Springer, 2018. pp. 901-910 (Mechanisms and Machine Science).

@inproceedings{11392fdfbfeb46f29fe391e786775ff5,

title = "Path{\textquoteright}s slicing analysis as a therapist{\textquoteright}s intervention tool for robotic rehabilitation",

abstract = "The assisted limb rehabilitation process is commonly associated with advanced control of the affected limb through robotic assistance and human interference. The robotic element is only expected to be able to reproduce the motion suitable for large variations of patient{\textquoteright}s condition within a reasonable accuracy and stiffness. Therapist{\textquoteright}s intervention of fine-control is in the format of planar elements (like pelvis linkage) or joints (like knee), which relate to trajectory or orientation adjustments. The rehabilitation process has to consider the patient{\textquoteright}s ability, limit and motion constraint that form those two factors. The parameters for controlling these is associated with kinematic, that defines the behaviour and characteristic of the lower limb. The developed 3D Python simulation system allows for this fine-tuning in the form of slice analysis and interval analysis. The results show that Bezier could be successfully used in various development aspects of parallel robots. The Hybrid and Hexapod robot configurations in this study can then be linked to a Haptic controller that runs on Python{\textquoteright}s Haptic engine.",

keywords = "Bezier, Brownian motion, Parallel robot, Robotic rehabilitation, Slice analysis",

author = "Mozafar Saadat and Alireza Rastegarpanah and Abdullah, {Che Zulkhairi} and Hamid Rakhodaei and Alberto Borboni and Marco Maddalena",

year = "2018",

doi = "10.1007/978-3-319-61276-8_96",

language = "English",

isbn = "9783319612751",

series = "Mechanisms and Machine Science",

publisher = "Springer",

pages = "901--910",

editor = "Carlo Ferraresi and Giuseppe Quaglia",

booktitle = "Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017",

note = "26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 ; Conference date: 21-06-2017 Through 23-06-2017",

}

Saadat, M , Rastegarpanah, A, Abdullah, CZ, Rakhodaei, H, Borboni, A & Maddalena, M 2018, Path’s slicing analysis as a therapist’s intervention tool for robotic rehabilitation. in C Ferraresi & G Quaglia (eds), Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Mechanisms and Machine Science, vol. 49, Springer, pp. 901-910, 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, Turin, Italy, 21/06/17. https://doi.org/10.1007/978-3-319-61276-8_96

Path’s slicing analysis as a therapist’s intervention tool for robotic rehabilitation. / Saadat, Mozafar ; Rastegarpanah, Alireza; Abdullah, Che Zulkhairi et al.
Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. ed. / Carlo Ferraresi; Giuseppe Quaglia. Springer, 2018. p. 901-910 (Mechanisms and Machine Science; Vol. 49).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Path’s slicing analysis as a therapist’s intervention tool for robotic rehabilitation

AU - Saadat, Mozafar

AU - Rastegarpanah, Alireza

AU - Abdullah, Che Zulkhairi

AU - Rakhodaei, Hamid

AU - Borboni, Alberto

AU - Maddalena, Marco

PY - 2018

Y1 - 2018

N2 - The assisted limb rehabilitation process is commonly associated with advanced control of the affected limb through robotic assistance and human interference. The robotic element is only expected to be able to reproduce the motion suitable for large variations of patient’s condition within a reasonable accuracy and stiffness. Therapist’s intervention of fine-control is in the format of planar elements (like pelvis linkage) or joints (like knee), which relate to trajectory or orientation adjustments. The rehabilitation process has to consider the patient’s ability, limit and motion constraint that form those two factors. The parameters for controlling these is associated with kinematic, that defines the behaviour and characteristic of the lower limb. The developed 3D Python simulation system allows for this fine-tuning in the form of slice analysis and interval analysis. The results show that Bezier could be successfully used in various development aspects of parallel robots. The Hybrid and Hexapod robot configurations in this study can then be linked to a Haptic controller that runs on Python’s Haptic engine.

AB - The assisted limb rehabilitation process is commonly associated with advanced control of the affected limb through robotic assistance and human interference. The robotic element is only expected to be able to reproduce the motion suitable for large variations of patient’s condition within a reasonable accuracy and stiffness. Therapist’s intervention of fine-control is in the format of planar elements (like pelvis linkage) or joints (like knee), which relate to trajectory or orientation adjustments. The rehabilitation process has to consider the patient’s ability, limit and motion constraint that form those two factors. The parameters for controlling these is associated with kinematic, that defines the behaviour and characteristic of the lower limb. The developed 3D Python simulation system allows for this fine-tuning in the form of slice analysis and interval analysis. The results show that Bezier could be successfully used in various development aspects of parallel robots. The Hybrid and Hexapod robot configurations in this study can then be linked to a Haptic controller that runs on Python’s Haptic engine.

KW - Bezier

KW - Brownian motion

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KW - Slice analysis

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U2 - 10.1007/978-3-319-61276-8_96

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M3 - Conference contribution

AN - SCOPUS:85028338934

SN - 9783319612751

T3 - Mechanisms and Machine Science

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EP - 910

BT - Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017

A2 - Ferraresi, Carlo

A2 - Quaglia, Giuseppe

PB - Springer

T2 - 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017

Y2 - 21 June 2017 through 23 June 2017

ER -

Saadat M , Rastegarpanah A, Abdullah CZ, Rakhodaei H, Borboni A, Maddalena M. Path’s slicing analysis as a therapist’s intervention tool for robotic rehabilitation. In Ferraresi C, Quaglia G, editors, Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Springer. 2018. p. 901-910. (Mechanisms and Machine Science). doi: 10.1007/978-3-319-61276-8_96

Path’s slicing analysis as a therapist’s intervention tool for robotic rehabilitation

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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