Finger Rehabilitation Robot - Justinas Miseikis

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Finger Rehabilitation robot designed, constructed and control added by Justinas Miseikis as a semester project at ETH Zurich. Maximum possible score, 6, was awarded for the project.

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  • Finger Rehabilitation Robot - Justinas Miseikis

    1. 1. FINGER REHABILITATION ROBOT Justinas Mišeikis Supervisors: Johannes Brand Dr. Kynan Eng Prof. Manfred Morari 1
    2. 2. REHABILITATION ROBOTSRepetitive Interactivemovements tasks Goal: Optimised human motor function recoveryMovement Adaptive control training 2
    3. 3. CONTROL TECHNIQUES 1. Minimum Impedance Reduce the mechanical movement resistance2. Assist-As-Needed 3. Error Augmentation Patient / user Patient / user Moving target Moving target 3
    4. 4. REQUIREMENTS• One dimensional index finger movements• Low cost• Safe• Portable• Precise force measurement and position tracking• Allow therapist interaction• Real-time haptic feedback 4
    5. 5. EXISTING ROBOTS Hong Kong Polytechnic University AmadeoA D C ETHZ Relab - Knob 5
    6. 6. REQUIREMENTS• One dimensional index finger movements• Low cost• Safe• Portable• Precise force measurement and position tracking• Allow therapist interaction• Real-time haptic feedback 6
    7. 7. “THERABOT” OVERVIEW• Based on Novint Falcon haptic gaming controller• Custom made finger handle, axial load• Therapist interaction: direct or indirect• Force measurement• Haptic feedback• Virtual reality Novint Falcon 7
    8. 8. MECHANICAL DESIGNAttachment toNovint Falcon Virtual Reality display Finger Ring with the Movement Therapist Handle direction Thumb Hold 8
    9. 9. MECHANICAL DESIGN Top ViewAttachment toNovint Falcon Therapist handleForce Sensors Thumb hold 9
    10. 10. MECHANICAL DESIGN Side ViewTherapist Handle AttachmentHolding Frame Force Sensors Sliding Finger Hold(with paddings) 10
    11. 11. INTERACTION SCENARIOS 1. Control: Ideal Trajectory, Moving Target 2. Manual assistance 3. InteractiveTele-rehabilitation 11
    12. 12. CONTROLLER 12
    13. 13. INTERACTIVE GAME• Controlling the index finger of the virtual arm• Task: follow the line 13
    14. 14. EXPERIMENT• Impedance control• Forwards - backwards movements• Varying support / resistance constants• Applied forces and position change recorded• Three full movement cycles analysed 14
    15. 15. RESULTS Forces and movement velocity Corresponding data from the same experiment Position change 15
    16. 16. RESULTS SupportResistance 16
    17. 17. HARDWARE IMPROVEMENTS• Add missing sensors• Finger ‘sleeves’ for adjusting finger hole size• Mechanically ‘locking’ vertical axis• Comfortable wrist-rest• Emergency stop button 17
    18. 18. SOFTWARE IMPROVEMENTS• More sophisticated minimum impedance controller• Assist-As-Needed and Error Augmentation control• Multiplayer protocol for tele-rehabilitation• More accurate force sensor calibration• Data analysis tool• Additional games 18
    19. 19. REHAB GROUP Supervisors Kynan Eng Manfred Morari Group MembersKatherine August Lisa HolperJohannes Brand Daniel Kiper Edith Chevrier Pawel Pyk Marie-Claude Michael Villiger Hepp-Reymond 19
    20. 20. THANK YOU! 20

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