I. BACKGROUND AND PROJECT OBJECTIVES
OWADAYS, robot arm power harnesses are pushing the
boundaries of technological assistance. They assist those
who have arm disabilities due to spinal injuries from
accidents, cerebrovascular disorders, muscular dystrophy and
limb paralysis. The use of robotic arms is a desirable
alternative to human caretakers. Besides physical and mental
burdens that the caretakers experience, the number of
caretakers has been declining. The main requirements of the
robot arm harnesses are its ease in operation and smooth
motion.
The rehabilitation arm in this study is intended for patients
with upper-limb impairments. It is meant to support their
rehabilitation process, as well as in everyday activities. This
arm is designed for assisting patients with C6 level spinal
cord injuries who have muscular dystrophy symptoms. It is
designed to power assist their arm movements, to regain
functionality of their arms, and to improve QOL scores. The
main problem with conventional rehabilitation arms is their
heavy weight relative to the actuator output. Thus, we have
adapted the HBSA (Hydraulic Bilateral Servo Actuator),
which reduces the weight of the arm, increases output, with
minimal noise. We have developed a bi-articular type of the
HBSA to provide pronation/supination movements to the arm.
This bi-articular type of the HBSA mimics the human radius
and ulna. This system is equipped in the forearm portion of
the rehabilitation arm.