"Biomimetic design of an upper limb robotic exoskeleton for stroke and " by Paul Dominick E. Baniqued

Biomimetic design of an upper limb robotic exoskeleton for stroke and injury rehabilitation

Date of Publication

12-2016

Document Type

Master's Thesis

Degree Name

Master of Science in Manufacturing Engineering

Subject Categories

Computer-Aided Engineering and Design

College

Gokongwei College of Engineering

Department/Unit

Manufacturing Engineering and Management

Thesis Adviser

Nilo T. Bugtai

Defense Panel Chair

Homer S. Co

Defense Panel Member

Renann G. Baldovino
Alexander C. Abad

Abstract/Summary

A 5-dof biomimetic design for an upper limb robotic exoskeleton used in therapy was developed to address the need for an accessible and reliable rehabilitation system. Stroke and injuries still remain as two of the leading causes of disability in the world. Robotic exoskeletons provide the necessary active or passive support in the same way as physical therapists do but without labor-intensive parameters such as cost of manpower and physical exhaustion. Because of the complexity of the human anatomy, most rehabilitation robots have been simplified to meet certain requirements. During this process, some discrepancies arise leading to the loss of biocompatibility between the actual user and the developed device. A biomimetic design approach was done to address this issue. A user needs analysis was performed to determine the technical requirements of the exoskeleton. The design of the links was inspired from the morphology of the bones and the muscle actuation process. Part and assembly designs were generated using the multi-platform CAD/CAM/CAE software CATIA v5. To test the movement of the assembled exoskeleton, forward kinematic solutions were calculated and simulated in CATIA v5’s Digital Mock-up Kinematics feature. Finite element analysis was also performed on the critical components of the device. Upon finalization of the design, each part was 3D printed using a MakerBot z18 Replicator. The 3D printed prototype was then subjected to kinematic compatibility tests via the OptiTrack Motion Capture System. Finally, the design was evaluated and validated by the medical doctors of the Department of Rehabilitation Medicine at Philippine General Hospital. Overall, the design and development of a 5-dof robotic exoskeleton prototype for upper limb therapy was successful. This rehabilitation device through its design and features aims to improve the accessibility and reliability of stroke and injury therapy not only in the Philippines but in the developing regions as well.

Abstract Format

html

Language

English

Format

Electronic

Accession Number

CDTG006886

Shelf Location

Archives, The Learning Common's, 12F Henry Sy Sr. Hall

Physical Description

1 computer optical disc; 4 3/4 in.

Keywords

Robotics in medicine; Rehabilitation technology

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Embargo Period

10-17-2024

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