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Author: search.filters.author.Dante A. ElíasSubject: search.filters.subject.Rehabilitation

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    A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints
    (Multidisciplinary Digital Publishing Institute (MDPI), 2023-10-01)
    This review article presents an in-depth examination of research and development in the fields of rehabilitation, assistive technologies, and humanoid robots. It focuses on parallel robots designed for human body joints with three degrees of freedom, specifically the neck, shoulder, wrist, hip, and ankle. A systematic search was conducted across multiple databases, including Scopus, Web of Science, PubMed, IEEE Xplore, ScienceDirect, the Directory of Open Access Journals, and the ASME Journal. This systematic review offers an updated overview of advancements in the field from 2012 to 2023. After applying exclusion criteria, 93 papers were selected for in-depth review. This cohort included 13 articles focusing on the neck joint, 19 on the shoulder joint, 22 on the wrist joint, 9 on the hip joint, and 30 on the ankle joint. The article discusses the timeline and advancements of parallel robots, covering technology readiness levels (TRLs), design, the number of degrees of freedom, kinematics structure, workspace assessment, functional capabilities, performance evaluation methods, and material selection for the development of parallel robotics. It also examines critical technological challenges and future prospects in rehabilitation, assistance, and humanoid robots.
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    Finger and wrist rehabilitation system based on soft robotics
    (Springer Science+Business Media, 2025-10-01)
    Soft robotics have been shown to offer benefits in physical hand rehabilitation therapies. However, most existing proposals focus solely on adults, neglecting the distinct biomechanical characteristics of children. Moreover, these proposals focus on systems designed for either finger or wrist rehabilitation, overlooking that effective hand rehabilitation therapies requires coordinated movements of fingers and the wrist. Accordingly, this study presents the design, simulation, and validation of a pediatric rehabilitation system that enables finger pulp pinch and wrist flexion–extension movements. The actuator design process considers the biomechanical characteristics of children. The actuators are constructed using a material rarely mentioned in the literature: RTV type 6 — Silika Moldes e Insumos. The mechanical tests are performed in accordance with the ASTM D412 standard to simulate it using finite element analysis in ANSYS software. The ANSYS fitting source is used to extract material coefficients from the fitted Yeoh model. Subsequently, the manufacturing of both actuators is described in detail, followed by testing using a proposed pneumatically controlled system. Our comprehensive experimental validation tests evaluate the actuators’ force output, kinematic hysteresis, fatigue, maximum breaking point, and safety factors, ensuring confidence in the system’s performance. Finally, a prototype of the finger and wrist rehabilitation system is presented.
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