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Abstract(s)
O acidente vascular cerebral (AVC) é uma doença neurológica que constitui uma das principais causas de mortalidade do mundo e que apresenta uma taxa de sobreviventes com deficiência crónica elevada. A reabilitação assistida por robô pode constituir uma ferramenta útil na recuperação da funcionalidade do membro superior. Assim, através do estudo de vários aspetos relacionados com o posicionamento relativo entre o paciente e o robô, este trabalho procura contribuir para a criação de uma solução de reabilitação do membro superior assistida por robô após AVC. Por sua vez, para estimar o melhor posicionamento relativo entre o paciente e o robô, estudou-se a cinemática robótica, em particular a ocorrência de singularidades
durante simulações dos movimentos de flexão e extensão do cotovelo e do ombro. Estas simulações foram realizadas com recurso ao software Visual Components. Os principais resultados deste estudo indicam que para os movimentos de flexão e extensão do cotovelo e do ombro, o paciente deve ser colocado na posição de sentado, ao lado do robô a um intervalo de distâncias compreendido entre 51 e 53 centímetros aproximadamente, tendo em conta que o referencial da pessoa é a mão e o do robô é o ponto central da sua base.
Stroke is a neurological disease that is one of the main causes of mortality in the world and has a high rate of survivors with chronic disability. Robot-assisted rehabilitation can be a useful tool in recovering upper limb functionality. Thus, through the study of various aspects related to the relative positioning between the patient and the robot, this work seeks to contribute to the creation of a robot-assisted upper limb rehabilitation solution after stroke. In turn, to estimate the best relative positioning between the patient and the robot, robotic kinematics were studied, in particular the occurrence of singularities during simulations of flexion and extension movements of the elbow and shoulder. These simulations were performed using Visual Components software. The main results of this study indicate that for flexion and extension movements of the elbow and shoulder, the patient must be placed in a sitting position, next to the robot at a distance range between approximately 51 and 53 centimeters, taking into account that the reference of the person is the hand and the robot’s is the central point of its base.
Stroke is a neurological disease that is one of the main causes of mortality in the world and has a high rate of survivors with chronic disability. Robot-assisted rehabilitation can be a useful tool in recovering upper limb functionality. Thus, through the study of various aspects related to the relative positioning between the patient and the robot, this work seeks to contribute to the creation of a robot-assisted upper limb rehabilitation solution after stroke. In turn, to estimate the best relative positioning between the patient and the robot, robotic kinematics were studied, in particular the occurrence of singularities during simulations of flexion and extension movements of the elbow and shoulder. These simulations were performed using Visual Components software. The main results of this study indicate that for flexion and extension movements of the elbow and shoulder, the patient must be placed in a sitting position, next to the robot at a distance range between approximately 51 and 53 centimeters, taking into account that the reference of the person is the hand and the robot’s is the central point of its base.
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Keywords
Stroke Rehabilitation Robotics Kinematics Simulation AVC Reabilitação Robótica Cinemática Simulação