title: Elbow functional compensation using a lightweight magnetorheological clutch.
abstract: There are many applications for which a patient needs functional compensation due to motor disorders in daily activities. Classic research has focused on robotics solutions in terms of actuators or motors, but the point of this paper is to analyze new solutions combining both biological and artificial structures, in order to improve standard developments. Nowadays wearable Robots are taking an important role in rehabilitation purposes, due to this issue lots of new designs are emerging, but most of them are not still prepared to be used in terms of autonomy, weight, etc. Under the Hybrid Neuroprosthetic and Neurorobotic devices for Functional Compensation and Rehabilitation (HYPER) project, new actuator technologies have been developed in order to improve the adaptability and portability of rehabilitation devices. The designed device is based on a lightweight magnetorheological (MR) clutch which is able to transmit torque from a motor to the injured joint. Though it is intended to work in human upper limb (elbow mainly), other future designs will also be studied for other human joints. Simulation results using Simulink®, MSC Adams®and MSMS®are reported to illustrate the viability of the proposed device.
authors.affiliation: Department of Systems and Automation Engineering, Universidad Carlos III de Madrid Av de la Universidad 30, 28911 Leganés, Madrid, Spain. faimartin@ing.uc3m.es
authors.forename: Alejandro Martín
authors.initials: AM
authors.lastname: Clemente
authors.forename: Antonio Flores
authors.initials: AF
authors.lastname: Caballero
authors.forename: Dolores Blanco
authors.initials: DB
authors.lastname: Rojas
authors.forename: Dorin-Sabin
authors.initials: DS
authors.lastname: Copaci
authors.forename: Luis Moreno
authors.initials: LM
authors.lastname: Lorente
mesh_terms: D004551:Elbow Joint / Q000503:physiopathology*; D019544:Equipment Failure Analysis; D006801:Humans; D008280:Magnetics / Q000295:instrumentation*; D008328:Man-Machine Systems; D015915:Motion Therapy, Continuous Passive / Q000295:instrumentation*; D009069:Movement Disorders / Q000503:physiopathology* / Q000534:rehabilitation*; D009989:Orthotic Devices; D011474:Prosthesis Design; D016059:Range of Motion, Articular; D012371:Robotics / Q000295:instrumentation*; D013813:Therapy, Computer-Assisted / Q000295:instrumentation