Using robotics for human medical rehabilitation.

Bartos, Stanislav ; Singule, Vladislav ; Havlik, Petr 等

Abstract: This paper deals with the use of robotics in medical physiotherapy. Our research is focused on the movement analysis of selected parts of human body (lower extremity) as well as the utilization of this knowledge for design of physioterapy robotics device. In this problem analysis of possible actuating of the robotic model is involved as well as the proposition of kinematics and dynamics quantities reading via PC interface.

Key words: robot, rehabilitation, design, control,

1. INTRODUCTION

Research is orientated on analysis of possibilities of human body movement.

Direction of this research is creating simple and low-cost robotic rehabilitation device. The device should be available for home rehabilitation.

This research is based on development of humanoid robots, robot computer control, database and expert approach, humanoid approach etc.

We are working on the special robots with 3 to 6 degree of freedom for the human body medical rehabilitation. Design of these robots is based on low-price components - gearboxes, DC motors, computer control etc.

2. REENGINEERING IN THE FIELD OF COMPARISON ROBOTS AND HUMAN BODY MOVEMENTS

For reengineering in this field we need to specify some new parameters and develop new methodology.

Specification and parameters of humanoids and bio-robots movement:

These robots have following specific parameters: type of robot, energy optimisation at the movement and work, criterions of stability, adaptive design, control and application, robot function for given technology, intelligence of robots, kinematic structure, movement parameters, etc

Specification and parameters of human body movement:

* range of human joints movement,

* range of human body and its independent part movement (for example the arm, leg, backbone etc.)

* energy optimisation and health at movement and work.

Comparison of movement in robotics and human medical rehabilitation

Development of new parameters such:

* movement energy--deformation energy,

* movement energy--position energy,

* adaptive control--adaptive thinking etc.

Methodology for humanoid robotics and human body movement medical rehabilitation is based on specification of: kinematic structure, movement parameters, control parameters, technology parameters, the level of adaptivity etc.

3. REENGINEERING IN THE HUMAN MEDICAL REHABILITATION RESEARCH AT BUT BRNO

3.1 Analysis of human body movement for medical rehabilitation

Research is orientated on analysis of possibilities of human body movement. We are solving very important database support (diploma work in this). The next topic is analysis of diseases human body movement. The deceases are analyzed in the diploma work in this.

Methodology of rehabilitation development:

* exercises of the given joint; of the whole arm, leg, backbone; of the whole body

* gradually increasing of the loading

* evaluation of states: before, during, after exercise

* using of possibilities of human movement, balance,

* using of equipment and robots for rehabilitation

* computer modeling, simulation, control etc. (Belohoubek 2004, 2005).

Main tasks for rehabilitation device:

Robotic device for rehabilitation should work in two fundamental cases:

* The movement measurement (active and passive measuring)--more accurately measuring. We observe abnormalities of movement and rising pain by executing movement exercise.

* The rehabilitation--the device should operate in three basic modes (active device movement, active-assisted device, active device resistance). (Spacek,M. 2005)

3.2 Example of design and control of the medical rehabilitation equipment for human therapy

Design of the robotic rehabilitation device We are engaged in development of robotic platform device for talar joint rehabilitation. Project of two-axis device is at Fig. 1. Device rotates along two perpendicular axes.

[FIGURE 1 OMITTED]

This two-axis robotic device could be modified in some versions: addition springs for resisting or supporting movement, actuations for creating active movement of rehabilitation device or combination of springs and actuations. Thanks to mounting the sensors we can gain kinematics and dynamics value.

3.3 Proposition of robotic device actuation and control Our development is based on computer control of economy servo drives. The servo drives should match these requirements: price accessibility, adequate torsion moment, feedback referred about real angle of rotation. It appears one of the best solution modeller servo drive thank to its price accessibility.

Scheme of the servomechanism supply is shown at Fig. 4.

It is necessary to use communication interface available on various PC inclusive of notebook. It appears using USB as the best solution for presentation with notebook.

3.4 Prototypes of rehabilitation device

Our first prototype (see Fig. 2) was created for examination of communication between PC and robotic device (parallel servomechanism movement) by RS 232. Model will be coupled with sensors to ensure safeness of device.

Our next prototype was created for examination of mechanical function (see Fig. 3). The springs were attached to the equipment for resisting the movement. This device was constructed from wood because of its low-price. The final robotic device will be constructing from aluminium. Both of our prototypes will be connecting into the final rehabilitation device.

3.5 Usage robotic rehabilitation device

We can find some practical application for our outlined rehabilitation device, e.g.: rehabilitation one extremity, rehabilitation of both lower limbs (parallel or independentmovement--see Fig. 5).

[FIGURE 2 OMITTED]

[FIGURE 3 OMITTED]

[FIGURE 4 OMITTED]

[FIGURE 5 OMITTED]

This rehabilitation device can improve motoric function of patient, e.g.: holding balance, increasing speed, force or accuracy of extremities movement. At last but not least we can use this device for improving coordination of body movement and brain function.

4. CONCLUSIONS

Application of reengineering in the robotics and human body rehabilitation is at our research and development based on the same or similar principles as are economical approach, computer control, space transformation, artificial intelligence, humanoid approach etc. It leads to the up-to-date robots and equipment development and also development up-to-date methods, algorithms and programmes development. Results of this research are possible to use as for robots development as for human medical rehabilitation etc.

For the future work is necessary to solve energy optimization of the robot and human body movement at work and prepare new type of robots, humanoid robots and algorithms for the work and health.

5. ACKNOWLEDGMENT

This work was done under the terms of the research plan Ministry of Education, Youth and Physical Culture of the Czech Republic No. MSM 0021630518 "Simulation modelling of mechatronic systems" and project FRVS/G1 No. 1370/2007 "Reengineering in humanoid robotics and human medical rehabilitation" on the Institute of Production Machines, Systems and Robotics; FME, Brno University of Technology.

6. REFERENCES

Belohoubek, P., (2005). Design and Control of Industrial Robots Optimisation. Study support BUT, Brno.

Belohoubek, P. (2004). Manufacturing Machines Technology. Study support BUT, Brno.

Spacek,M., Belohoubek, P., Nadhera M., Pavlas,J. and Havlik, P. (2005). Scientific Approach to the Modelling of Multiaxes Robots and Human Body and the Medical Rehabilitation. In: Proceedings of the international conference Mendel 2005, Brno. pp.157-162, ISBN 80-214-2961-5

Bartos,S. (2005): Computer control of movement three wheels robot. Diploma paper. BUT Brno