Design and Development of a Wrist Exoskeleton for people post stroke copy.pptx
1. Design and Development
of a Wrist Exoskeleton
Device for People Post
Stroke.
NAME: Faiz Ahhmed Shaikh
ID: 1101193004
SUBJECT: Final Year Project 1
SUBJECT CODE: EMB 4412
TOPIC: FINAL PRESENTATION
2. INTRODUCTION
• Muscle weakness is the most noticeable impairment
in many people who have had a stroke.
• Stroke rehabilitation programs have consistently
demonstrated significant improvement in muscle
strength of the patients.
• The aim of the proposed system is to design and
develop rehabilitating hand exoskeleton which can
be used by patients that may have been followed
by a stroke to regain normal functionality in their
wrists.
• This hand exoskeleton device moves the wrists
through the perform palmar flexion/volar flexion,
dorsal flexion, radial abduction and ulnar abduction
using shape memory alloy.
Figure shows the palmar and dorsal flexion, radial and
ulnar abduction (X-Hand Indication/Technique, 2023)
3. PROBLEM
STATEMENT
• Current methods shows that the wrist flexion
and extension using shape memory alloys is
45 degrees, gives a linear displacement of
36mm with a length of the wire being 1.2m,
0.5mm diameter and a force of about 35N. In
this paper we are going to overcome the
range of motion for 50 degrees using the
same parameters of the Shape Memory
Alloy. A wrist exoskeleton will be developed
and tested using the different lengths and
diameters for the SMA. High level of data
abstraction for the development of the
product will be provided by the use of
MATLAB that provides a graphical
programming language, ideal for the
development of control systems.
4. OBJECTIVES
To design a wrist rehabilitation device following stroke that is able to
do wrist flexion and extension functions of the wrist using bilateral
wrist movement practise.
To develop, analyse and test prototype using shape memory alloy
(SMA) wires.
To evaluate the performance of the prototype.
5. SHAPE MEMORY ALLOY ACTUATOR
• Shape memory alloy is a type of material
that has the ability to return to its
original shape after being deformed.
• One potential application of SMA in
rehabilitation is the development of
splints or braces for the wrist.
• Another potential application is the
development of exoskeletons or assistive
devices for the wrist.
• Overall, the use of SMA in rehabilitation
has the potential to improve the
effectiveness of existing devices and
create new tools for supporting and
stabilising joints during the recovery
process.
6. TYPES OF
EXOSKELETON
DEVICES
AVAILABLE
Braces or splints: These are devices that are used to support and stabilize
joints, such as the knee, wrist, or elbow. They can help to reduce pain
and improve mobility during the recovery process.
Exoskeletons: These are wearable devices that provide support and
guidance for the body during movement. They can be used to help
individuals with spinal cord injuries or other conditions that affect
mobility to walk or perform other activities.
Therapy balls and balance boards: These devices are used to improve
balance and coordination and can be beneficial for individuals recovering
from injuries or conditions that affect these abilities.
Treadmills and stationary bikes: These are commonly used in physical
therapy to help individuals improve their strength and endurance. They
can be helpful for individuals recovering from injuries or conditions that
affect their ability to walk or perform other activities.
8. Comparison table for the existing
hand/wrist rehabilitation device
Project Name/
Project Author
Design Model DOF Wrist Flex./Ext. Wrist Abd./Add. Other Specs. Control Methods
Physiotherabot/WF
Exoskeleton 3 + + Portable Force/Torque Control
InMotion Wrist Robot Exoskeleton 3 + + Modular Force/Torque Control
MAHI
Exoskeleton
3-RPS platform 5 + +
Elbow Flex.
/Ext.- Force control
RiceWrist
Exoskeleton
3-RPS platform 5 + +
Elbow Flex.
/Ext.- PD Position Control
MAHI-EXO II
Exoskeleton
3-RPS platform 5 + +
Elbow Flex.
/Ext.- Force Control
RiceWrist-S Exoskeleton 3 + + - PD Position Control
9. Project Name
/
Project Author
Design Model DOF Wrist
Flex. /
Ext.
Wrist
Abd. /
Abd.
Other Specs. Control Methods
Bi-Manu-Track End-effector 2 + - Bilateral Position Control
Wrist Gimbal 3DOF Exoskeleton 3 + + - PD Position Control
Wrist Gimbal 2DOF Exoskeleton 2 + - - PD Position Control
ULERD Exoskeleton 3 + - Elbow Flex. /Ext.- PD Position Control
Hand Rehabilitation System Exoskeleton 10 + +
Wrist Adv./Ret.
Thumb Mov.
Finger Mov. * PD Position Control
CONTINUED…
