Robotic Arm with 7 DoF for Upper Limb

Abstract:

The article describes a design of robotic arm with 7 DoF for upper limb. In the first part there are described requirements for the robotic arm. Article continues with the biomechanical analysis of the upper limb, with the analysis of the ergonomic adjustable parameters and with the character of the required exercises which is the basis for the design of such device. The main part of the article describes and original solution of mechanical part of the robotic arm with 7 DoF actuated by pneumatic artificial muscles.

• Periodical: International Journal of Engineering Research in Africa (Volume 18)
• Pages: 199-206
• DOI: https://doi.org/10.4028/www.scientific.net/JERA.18.199
• Online since: October 2015
• Authors: Boris Jobbágy*, Dušan Šimšík, Róbert Rákay, Ján Karchňák
• Keywords: Action Mechanism, Rehabilitation Robot, Robotic Arm, Upper Limb

References

[1] M. Mihelj, T. Nef, R. Riener, ARMin II - 7 DoF rehabilitation robot: mechanics and kinematics, in: Proc. of IEEE International Conference on Robotics and Automation, 10-14 April 2007, Roma, Italy, 2007, pp.4120-4125.

DOI: 10.1109/robot.2007.364112

[2] T. Nef, M. Mihelj, R. Riener, ARMin: a robot for patient-cooperative arm therapy, Medical and Biological Engineering and Computing 45 (2007) 887-900.

DOI: 10.1007/s11517-007-0226-6

[3] J. Klein et al., Biomimetic Orthosis for the Neurorehabilitation of the Elbow and Shoulder (BONES), in: Proc. of 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 19-22 October 2008, Scottsdale, USA, 2008, 535-541.

DOI: 10.1109/biorob.2008.4762866

[4] J. Smrček, P. Tuleja, P. Friga, Application of robotic systems in health care (Aplikácia robotických systémov v zdravotníctve), Strojárstvo/Strojírenství 12/5 (2008) 136-137 (in Slovak).

[5] B. Jobbágy, D. Šimšík, J. Karchňák, D. Onofrejová, Robotic arm with artificial muscles in rehabilitation, Procedia engineering: Modelling of Mechanical and Mechatronic Systems 96 (2014) 195-202.

DOI: 10.1016/j.proeng.2014.12.143

[6] B. Jobbágy, Development of robotic devices with pneumatic muscles for rehabilitation of limbs (Vývoj robotických zariadení s pneumatickými svalmi pre rehabilitáciu končatín); Thesis, TUKE, Košice, 2014 (in Slovak).

[7] J. Novák-Marcinčin, J. Smrček, Biorobotics - theory, principles, application in practice Biorobotika-teória, princípy, aplikácia v technickej praxi, Elfa, Košice, 1998 (in Slovak).

[8] Skeletal system and Joints, Information on http: /www. markedbyteachers. com/as-and-a-level/physical-education-sport-and-coaching/skeletal-system-and-joints. html.

[9] D. Šimšík, J. Karchňák, B. Jobbágy, A. Galajdová, Design of inertial module for rehabilitation device, in: Proc. of IEEE 11th International Symposium on Applied Machine Intelligence and Informatics SAMI 2013, January 31 - February 2, 2013, Herľany, Slovakia, 2013, pp.33-36.

DOI: 10.1109/sami.2013.6480991

[10] B. Jobbágy, D. Šimšík, J. Marek, J. Karchňák, D. Onofrejová, Robotic Exoskeleton for Rehabilitation of the Upper Limb, American Journal of Mechanical Engineering, 2/7 (2014) 299-302.

DOI: 10.12691/ajme-2-7-27

[11] A. Galajdová, D. Šimšík, B. Jobbágy, M. Veseliny, A Contribution to Motorized Rehabilitation Devices, in: Proc. of 7th International Conference on Biomedical Elektronics and Devices (Biodevices 2014); 3-6 March, 2014, ESEO, Angers, Loire Valley, France - Portugal, SCITEPRESS - Science and Technology Publications, 2014, pp.323-328.