بحث بعنوان Gamification and Control of Nitinol Based Ankle Rehabilitation Robot

اسم المؤلف

Chong Tune Hau, Darwin Gouwanda, Alpha A. Gopalai, Cheng Yee Low and Fazah A. Hanapiah

التاريخ

16 سبتمبر 2022

التصنيف

هندسة الإنتاج والتصميم الميكانيكى

المشاهدات

129

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بحث بعنوان
Gamification and Control of Nitinol-Based Ankle Rehabilitation Robot
Chong Tune Hau 1, Darwin Gouwanda 1,*, Alpha A. Gopalai 1, Cheng Yee Low 2 and Fazah A. Hanapiah 3
1 School of Engineering, Monash University Malaysia, Bandar Sunway 47500, Selangor, Malaysia;
[email protected] (C.T.H.); [email protected] (A.A.G.)
2 Faculty of Mechanical and Manufacturing Engineering, Universiti Tun Hussein Onn Malaysia, Parit Raja,
Batu Pahat 86400, Johor, Malaysia; [email protected]
3 Faculty of Medicine, Universiti Teknologi MARA, Sungai Buloh 47000, Selangor, Malaysia;
[email protected]

• Correspondence: [email protected]
  Abstract: Conventional ankle rehabilitation exercises can be monotonous and repetitive. The use
  of robots and games can complement the existing practices, provide an engaging environment for
  the patient and alleviate the physiotherapist’s workload. This paper presents an ankle rehabilitation
  robot that uses two nitinol wire actuators and a Pong game to provide foot plantarflexion and
  dorsiflexion exercises. Nitinol is a type of smart material that has high volumetric mechanical energy
  density and can produce translational motion. A two-state discrete antagonistic control is proposed
  to manipulate the actuators. The system was tested on healthy participants and stroke patients. The
  results showed that the robot was safe and compliant. The robot did not forcefully plantarflex or
  dorsiflex the foot when the participant exerted opposing force. The actuators worked antagonistically
  to flex to the foot as intended, in sync with the up and down motions of the player’s bat in the
  game. These behaviors demonstrated the feasibility of a nitinol-based ankle rehabilitation robot and
  a simple and yet intuitive game in providing interactive rehabilitation exercise. The robot is expected
  to enhance the patient’s experience, participation and compliance to the rehabilitation routine and to
  quantitatively monitor the patient’s recovery progress.
  Keywords: ankle rehabilitation; rehabilitation robot; nitinol; rehabilitation game
  Conclusions
  Ankle rehabilitation robot offers several benefits. It can alleviate the physiotherapist’s
  workload. It can also provide a quantitative evaluation of a patient’s condition and recovery
  progress. This study proposes an ankle rehabilitation robot that uses a nitinol wire actuator
  and the Pong game to provide interactive and engaging exercise for post-stroke patients.
  The combination of these two elements is driven by the two-state discrete antagonistic
  control. It enables the manipulation of the nitinol wire actuator to tilt the foot plate up and
  down, and thus dorsiflexes and plantarflexes the foot during the game. The experimental
  results on the healthy participants and stroke patients were satisfactory. The robot was
  able to flex the foot based on the participant’s intention. When the user exerted a minimal
  downward force that exceeded the preset threshold, the robot plantarflexes the foot and
  vice versa. Although none of the participants won the game, it demonstrated the viability
  of this approach in rehabilitating the ankle.

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