Human forearm rehabilitation and monitoring systems
Keywords:
Bi-mobile mechanism, Forearm sagittal model, Pronation - supination model, Positional - kinematic characteristics, Model algorithm, Inverse modelling, Direct modellingAbstract
The human upper limb has a special anatomical complexity allowing for extraordinary mobility. Literature reports over 8000 degrees of freedom in the hand alone [12-15] making an engineering marvel. It can be assimilated with a biorobot with open and closed chains that give exceptional functional mobility. Due to this complex structure, there are no specific solutions for human upper limb recovery systems in the existing literature. Based on the short anatomical details included in the paper [11-20], a simplified version of the human upper limb in the sagittal plane is created, which is necessary for designing its recovery and functional systems. This bi-mobile planar mechanism consists of three main segments corresponding to the humerus, forearm and palm. It is completed with a closed chain to simulate the palm, being attached to the sagittal model. A specific algorithm is used to obtain the model's positional-kinematic characteristics for standard anatomic details. The forearm also possesses a unique movement called pronation-supination, which allows it to rotate. This motion can be replicated using a spatial mechanism. By integrating these two mechanisms, a single system for use in medical rehabilitation, specifically designed to aid in the forearm functional recovery can be created.
References
ANGELES, J., Fundamentals of Robotic Mechanical Systems: Theory, Methods and Algorithms, Springer-Verlag N. York, 2003.
MANOLESCU, N. I., A Unified Method for the Formation of all Planar Jointed Kinematic Chains and Baranov Trusses, Environment and Planning B, 6, 4, pp. 447-454, 1979.
MANOLESCU, N. I., A Method Based on Baranov Trusses, and Using Graph Theory to Find the Set of Planar Jointed Kinematic Chains and Mechanisms, Mech. Mach. Theory, 8, 1, pp. 3-22, 1973.
COMANESCU, A., DUGAESESCU, I., BOBLEA, D., UNGUREANU, L., Multifunctional Medical Recovery and Monitoring System for the Human Lower Limbs, SENSORS JOURNAL, 19, 22, Article Number: 5042, DOI: 10.3390/s19225042, Published: Nov. 2019, PubMed ID: 31752371, eISSN: 1424-8220, WOS:000503381500220, 2018 Impact factor 3.031, 2019.
COMANESCU, A., COMANESCU, D. & col., Mechanisms – Analysis and Synthesis – Modelling, Simulation and Optimization of Mechaniical Systems, Editura POLITEHNICA Press, Bucharest, ISBN:978-606-515-948-8, 2021.
COMANESCU, A., BANICA, E., COMANESCU, D., Human inferior member model for a medical functional recovering system, 8th World Congress of Biomechanics, 8-12 July 2018, Dublin, Ireland, 2018.
COMANESCU, A., BANICA, E., COMANESCU, D., Leg Mechanisms Motion Characteristics, Mechanisms, Transmissions and Applications, Proceedings of the Fourth MeTrApp, Conference 2017, pp. 56–66, © Springer International Publishing AG 2018, Mechanisms and Machine Science, ISSN 2211-0984 ISSN 2211-0992 (electronic), ISBN 978-3-319-60701-6 ISBN 978-3-319-60702-3 (eBook), DOI 10.1007/978-3-319-60702-3, 2017.
COMANESCU, A., ZALESCHI. C., Bi-mobile mechanisms designed by means of their inverse models, 2016 International Conference on Applied Mechanics Electronics and Mechatronics Engineering (AMEME2016) May 28-29, 2016 in Beijing, China, pp. 279-285, 2016.
COMANESCU, A., COMANESCU, D., DUGAESESCU, I., UNGUREANU, L., Bi-Mobile Leg Mechanism Dynamic Model, International Conference on Cyber Systems in All Fields of the Life Aerospace, Robotics, Mechanical Engineering, Manufacturing Systems, Biomechatronics, Neurorehabilitation and Human Motricities - ICMERA 2015, Applied Mechanics and Materials, 811, pp. 273-278, 2015.
SECARA, C., CHIROIU, V., DUMITRIU, D., Obstacle avoidance by a laboratory model of redundant manipulator using a genetic algorithm based strategy, Proceedings of IV-th National Conference THE ACADEMIC DAYS of the Academy of Technical Sciences in Romania, November 19-20, 2009, Iassy, pp. 199-204, AGIR Publishing House, 2009.
https://emea.search.yahoo.com/search-ei=UTF-8&fr=crmas&p=human+upper+limb.
MOREL, W, 3D modelling of the human upper limb including the biomechanics of joints, muscles and soft tissues, doctoral thesis, Ecole Politechnique Lausanne, 1999.
WEBSTER, J. B., MURPHY. D. P., Atlas of orthoses and assistive devices, 5th Edition, Hardback ISBN: 9780323483230, 2018.
WANG, H., GUO, J,, PEI, S., WANG, J., YAO, Y., Upper limb modeling and motion extraction based on multi-space-fusion, Scientific Reports volume 13, Article number: 16101, www. nature.com/scientificreports, 2023.
DE OLIVEIRA, A. C., SULZER, J. S., DESHPANDE, A. D., Assessment of upper-extremity joint angles using harmony exoskeleton, IEEE Trans. Neural Syst. Rehabil. Eng. 29, pp. 916–925, 2021.
ZEIAEE, A., ZARRIN, R. S., EIB, A., LANGARI, R., TAFRESHI, R., A lightweight and compact exoskeleton for upper-limb rehabilitation, IEEE Robot. Autom. Lett., 7, 2, pp. 1880–1887, 2022.
SETH, A., MATIAS, R., VELOSO, A. P., DELP, S. L. A biomechanical model of the scapulothoracic joint to accurately capture scapular kinematics during shoulder movements, PLoS ONE 11, e0141028, 2016.
SETH, A., DONG, M., MATIAS, R., DELP, S. L., Muscle contributions to upper-extremity movement and work from a musculoskeletal model of the human shoulder. Front. Neurorobot. 13, 90, 2019.
DA GAMA, A., E., F., CHAVES, TD., M., FALLAVOLLITA, P., FIGUEIREDO, L. S., TEICHRIEB, V., Rehabilitation motion recognition based on the international biomechanical standards. Expert Syst. Appl., 116, pp. 396–409, 2019.
WALMSLEY, C. P., Measurement of upper limb range of motion using wearable sensors: A systematic review, Sports Med. Open., 4, pp. 1–22, 2018.
Published
Issue
Section
Copyright (c) 2024 The Romanian Journal of Technical Sciences. Applied Mechanics.

This work is licensed under a Creative Commons Attribution 4.0 International License.