Details of Rehabilitation Robot For Lower Limb

Utilizing socially assistive robots (SARs) to motivate post
stroke lower limb rehabilitation.

Summary:
Limbs impairment whether it is lower limb or upper limb is the common outcome of stroke.
Rehabilitation exercises in the presence of therapist, can help the limbs of patients to relearn their
movement of action but after discharging, patients receive minimum number of exercises at homes that
causes their affected limbs to forget their action movements and are not able to perform activities of daily
lives (ADLs). Such a robotic platform is needed that can provide assistive forces in performing
rehabilitation exercises at home. In this report, a robotic platform is presented which includes robotic
system as well as haptic device to perform the post stroke rehabilitation exercises for the lower limb. The
proposed robotic system would be capable of performing exercises via active control system. Active
control system allows patients to control the movements of robot by their own. Robotic system is
controlled by means of Arduino UNO and joystick module which is handled by patients. If the patient is
feeling uncomfortable and difficulty in performing the exercise on his own, then the physiotherapist
would control the system using GUI.Also, the physiotherapic exercises of patients would be recorded and
analyzed by physiotherapists during the performance of exercises. The sensors including accelerometer,
EMG muscle sensor and foot force pressure sensor are placed on the robotic structure that can record the
acceleration of robotic structure as well as force exerted by the patient while performing the exercises and
physiotherapists can easily observe and analyze these parameters on their control systems. The proposed
system reduces the dependence of therapists and can easily find applications in medical and engineering
fields.
Project Objectives:
1. Rehabilitation exercise is the care that helps patient get back on track.
2. Improves abilities that patients need for daily life chores.
3. To regain the mobilization of lower limb.
4. It provides functional independency to paralyzed patients.
5. To retrieve social participation in the society.
6. Exercises are age-specific and consider the person’s needs and priorities.
7. The device is easily operatable and can be equipped in homes and hospitals both.
8. It can be operated by patients as well as physiotherapists.
Implementation Method:
The project consists of structure of robotic leg fixed to a chair and can be implemented in two
ways. The robotic leg can be controlled by both patients and physiotherapists. If patient wants to
control the structure on his own then he/she will control it using joystick. Three stepper motors
are attached to the structure at three links of lower limb i.e. thigh, leg and ankle. By using
Joystick, he will perform the three degree of freedom exercises according to his own will. On the
other hand, if he wants the physiotherapists to control the structure then physiotherapist will send
command to the controller using GUI and will set the speed and angle according to the amount
of exercise needed. The sensors i.e. accelerometer and force sensors would be placed on the
structure and their data can be analyzed on the control systems.
Benefits of the Project:

1. The project is budget-friendly.
Rehabilitation Robots are one of the most known and acclaimed innovation in the field of
medical science, as they provide efficient exercise required to combat the condition of
paralyzed patients. Economical barrier has always been a great task to tackle, but this
project deals with components who are available at pocket-friendly prices and execute the
exercises on patients efficiently.
2. Project provides Graphical user Interface

Complex machines and devices are always a grind for non-technical people, as an
educated, and well-trained person is required to operate the machine and the desired
outcomes are achieved, but this project by the help of GUI which enables the doctor and
patient deal with exercises proficiently.
3. Operatable by all
The quality of this project that makes it, one of its own kind is that it has very easy
operating system, and it can be controlled by both the physiotherapist and patient himself
without requiring any complex medical knowledge.
4. Time saving nature

This project is extremely a life-saver and a time-saver, as it can be operated by the patient
himself at home, once the exercise is prescribed by the doctor and due to this the time
that usually gets waste in going to clinics is saved, by which the patient feels lethargic,
and the physiotherapist's time is also saved and he can deliver his services in the clinic for
more bigger purposes.
Technical Details of Final Deliverable

Viewing it in the light of technical specifications,
The stepper motors provide the required force at three joints, one at the ankle and the other two
on the different portion of legs. It provides the exact amount of acceleration and velocity that is
needed for the proper mobilization of legs. The iron structure completely holds the legs, keeps a
hold of them and makes the motors execute its functioning.
Joystick allows the patient/physiotherapist to control the motion, speed, and angle of the
movement. At what pace the motors should be exerting force, at what inclined angles should be
the movement performed, all is controlled with a simple joystick, making it an incredibly user-
friendly equipment.
The robot can also be controlled using passive control system which means that physiotherapist
would also be able to give command to the structure using GUI.
Length of robotic structure can be adjusted using linear actuators so the structure can be used by
every person.
Final Deliverable of the Project

A medically assisted chair equipped with iron framework, joystick, motors and body sensors that
allow the physiotherapy of paralyzed patients while providing efficient and excellent
performance.
The actual deliverable of this project is massive and tangible, as it helps both stakeholders
(patients and physiotherapists).
Scope of the project
It ensures the patient is having no difficulty regrading using the designed equipment, securing
patients trust. It can be handled by both, patients and the physiotherapists allowing the therapists
to monitor the rehabilitation process of the patient.
Time saving nature of project

This project makes sure, time is saved. Time is saved, as the project can be equipped in homes as
well as in the hospitals. Once a therapist prescribes the exact exercises to be done, the patient
itself can perform the exercises by simply moving the joystick in desired direction.
Cost of the project

This is an economical project. It consists of motors, joystick, body sensors, and iron framework
proving it to be a budget friendly project meeting all the desired expectations, in terms of
services provided and quantifiable goods delivered.
Quality of the project

No compromise is made when it comes to the quality of the project, as the quality was the first
concern considered while making the project. High quality materials and supreme quality motors
were incorporated, high-level programming was done to such a level that smooth motion was
achieved with a constant pace.
Project Key Milestones
1- Patient's safety.
2-Proper function of lower limb.
3-Educating the patient.
4-If the patient is young, his/her future should not be compromised.
5-Patient should be able to perform activities of daily life after exercise.
6-It will prevent mobilization complications.
7-Feasible machine-user interaction.
8-It is accessible to common audience being budget-friendly.
9-
Type of industry (keywords)

Medical
Health Services
Mechatronics
Physiotherapy
Technologies (keywords)
Control systems
Mechatronics
Arduino
Sustainable Development Goals (keywords)

Good health and well-being
Industry, innovation and infrastructure
Reduced inequalities
Decent work and economic growth
Project Equipment / Miscellaneous Item Details
Components No. of units Per Unit Cost (in Rs) Total (in Rs)
Arduino UNO 1 Rs.730 Rs.730
3 axis accelerometers 2 Rs.275 Rs.550
Force sensitive Resistor 1 Rs.900 Rs.900
square sensor
HC-05 Bluetooth 1 Rs.400 Rs.400
module
Analog Joystick 2 Rs. 150 Rs. 300
module
Variable Resistor 3 Rs.25 Rs.75
Rotary potentiometer
Stepper motors 3 Rs. 250 Rs. 750
A4988 Stepper motor 3 Rs. 250 Rs. 750
driver
Nextion HMI LCD 1 Rs. 5200 Rs. 5200
touchscreen
L298 motor driver 2 Rs.280 Rs.560
Linear actuators 1 Rs.8250 Rs.8250
EMG sensor 1 Rs.3000 Rs.3000
Batteries Rs.10000 Rs.10000
Iron structure 1 Rs.15000 Rs.15000
Miscellaneous Rs.8000 Rs.8000
Total Rs.54465

Details of Rehabilitation Robot For Lower Limb

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Utilizing socially assistive robots (SARs) to motivate post

stroke lower limb rehabilitation.

Benefits of the Project:

2. Project provides Graphical user Interface

4. Time saving nature

Technical Details of Final Deliverable

Final Deliverable of the Project

Time saving nature of project

Cost of the project

Quality of the project

Project Key Milestones

Type of industry (keywords)

Sustainable Development Goals (keywords)

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