Republic of Tunisia

Ministry of Higher Education and Scientific Research

T-Rebot: A Hand
Rehabilitation Robot

Developed by: Supervised by:

(Electrical Department) Pr.
,,,,,,,,,,,,,,&,,,,,,,,,,,,,,,,,,
Pr.
(Electromechanical Department)
Pr.
 Outline

Motivation and Problem Statement

Clinical Case

Design

Simulations
Conclusion and Future Work

3
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Introduction
• 785 million of World's Population are Disabled  15 %
5 % are
children
•Causes:
 Spinal cord injury
Stroke
Traumatic brain injury
Neurological disorders

•10 million suffer Traumatic Brain Injury (TBI)

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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

•TBI affects males twice more the rate of females

•Half of all TBI’s are caused by:

Domestic accidents
 Sports injury
Industrial accidents
Alcoholism
Road traffic accident  85.6% according to some
statistics made in south Tunisia

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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

35% 23% 18%

Significant levels Suicidal Suicidal attempt
of hopelessness Intention post-injury

How to help them overcome their

disability?

6
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Finding a solution to help them to:

•Regain their former activities
•Relieve from their sufferings and pains
•Return to comfortable and productive life
Is an OBLIGATION and DUTY !!
 Traditional solution: the physiotherapy

7
 Limitations of Traditional
therapy

Time 1
2
Expense
3
Requirement

Rehabilitation
Robotics
Physiotherapists
+
Rehabilitation ‘s
Centers 8
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work
Improve the efficiency

To reach the best Reduces the

possible quality of life 5 2 rehabilitation
cost
Advantages

Helps the patients

4 3 become as
Helps to relearn the
independent
lost skills as possible

9
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Existing Devices

MRI for Finger AFX

Rehabilitation
HANDEXOS finger Gear Mechanism
module
10
 Need of a simplified robot
Complex
A new 1 DOF hand
mechanism rehabilitation robot

Help disabled people

overcome their physical
and psychological
Disadvantages handicap

Difficult No
Control communication
with the external
world 11
No talking ability

3 Total tetraplegia
(Four Limb
Doctor’s Report paralysis)
1

2
Respiratory dyspnea with the unique
ability of controlling vertically his eyes
and eyebrows.

12
Motivation & Conclusion
Problem Clinical Scope Simulation
Design & Future
Statement Case Work

T-Rebot mission
Mission1:
Our robot will assist Mohamed’s index finger to Rehabilitation
accomplish pre-defined movements in order to of the finger
reach the screen of the smart phone and type with
certain angle and force.

13
Motivation & Conclusion
Clinical
Problem Scope Design Simulation & Future
Statement Case Work

Mission2 :
Our robot system is equipped with a guidance system
Rehabilitation
that affords translation in both vertical and horizontal
of the arm
plan. The translation movement is manually

Vertical translation Horizontal translation

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Motivation & Conclusion
Problem Clinical Scope Simulation
Design & Future
Statement Case Work

• Rehabilitation
.Entertainment
•Keep in touch
Surfing
Writing text with the
on the net
Dialing number messages when
in emergency need external world
cases
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T-Rebot

16
Motivation & Conclusion
Problem Clinical Scipe Simulation
Design & Future
Statement Case Work

Motor Selection

Motor
Motor Control

Motor Setting up

17
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Motor Selection
DC ? AC

DC

Power availability
Variety DC Motor

Reliability

Easy for interface

and control Brushed Brushless Stepper

18
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

19
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Required torque of the motor

C = P*R

Weight of the Lenght of the

finger finger

Where

P=M*g

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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

•Torque=0.3 N.m
•Safety coefficient=5

Required Torque =1.5 N.m

Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

HS-755MG 1/4 Scale Servo motor

The motor data Value& Unit
1 Operating Voltage 4.8-6.0 Volts
2 Operating Temperature Range -20 to +60 Degree C
3 Operating Speed (4.8V) 0.28sec/60° at no load
4 Operating Speed (6.0V) 0.23sec/60° at no load
5 Stall Torque (4.8V) 167 oz/in. (12kg.cm)
6 Stall Torque (6.0V) 200 oz/in. (14kg.cm)
7 Operating Angle 45 Deg. one side pulse traveling 400usec
8 Current Drain (4.8V) 8mA/idle and 230mA no load operating
9 Current Drain (6.0V) 8.7mA/idle and 285mA no load operating
12 Dimensions 2.3" x 1.1"x 2.0" (59 x 29 x 50mm)
13 Weight 4.12 oz (117g)
15 Control System +Pulse Width Control 1500usec Neutral
19 Gear Type Metal Gears

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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Power Transmission Mechanism

•Solution A : Cable Mechanism •Solution B : Gear mechanism

•Solution C : Pulley-Belt Mechanism •Solution D : Exoskeleton Mechanism

Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Pugh matrix coefficients

+1 Better than
0 Equal to
-1 Worse than

Weight Baseline B C D
Criteria (A)
Aesthetic 1 0 -1 0 0

Weight 2 0 -1 0 +1

Manufacturing 3 0 +1 0 0
simplicity
Safety 4 0 +1 +1 +1

Volume 2 0 -1 -1 +1

Total Score 0 6 2 8

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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Compass
The patient can move only his eyes ,eyebrows and his head
3 possibilities of motor control

Eye tracking Control with eyebrows

•Instability
• So tiring and enervating Control with
 loss of accuracy
even for normal people head
•Sophisticated equipements
• Not aesthetic
•Time
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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

A displacement engenders a variation of the magnetic field

The motion of the head can be detected by a sensor
Magnetic Sensor
Compass
.
Our choice was based mainly on
Small size
Low price
 Easy use But!!
Efficiency of the device
Compass points to the north
check and modify the software program every time
neither professional nor efficient
our idea is to consider two reference frames 26
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Two types of magnetic sensors

(Two reference frames)

2-axis compass Honeywell HMC6352 3-axis compass Honeywell HMC5883L(magnetometer)

Fixed reference frame Moving reference

Fixed to the robot Placed on the head’s

Delivers the heading patient
values within the direction Moves with respect to
of the true north the 2-axis compass

27
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Honeywell HMC6352
A 2-axis compass which measures the direction of the magnetic field along two axes

SCL: serial clock

Specifications signal
• Small size SDA: serial data
•Wide magnetic field range acquisition
•Low voltage operation (2.7 to Voltage Supply
5.2volts) 3.3Volt
•I2C communication.
Ground

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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Honeywell HMC5883L
A 3-axis compass which measures the direction of the magnetic field along three axes

Specifications Ground
• Small size
Voltage Supply
•Wide magnetic field range
3.3Volt
•Low voltage operation (2.7 to
5.2volts) SDA: serial data
acquisition
•I2C communication.
SCL: serial clock
signal
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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Measurement of the magnetic fields through a compass or a magnetometer

Measurement of the current itself

Changes of the direction of Earth’s magnetic fields Affect the flow of electrons
and so the current in the sensor.
Current variation= compass heading
 Servo motor control

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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Arduino

Arduino is an open-source physical computing platform based on a simple

I/O board and a development environment for writing Arduino software.

Features:
Open source project  Accessible
Offers PWM outputs,digital and analog inputsFlexible
Ease of use
Comes with free authoring software Low cost
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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Arduino Duemilanove with ATmega328 microcontroller

Microcontroller ATmega328
Operating Voltage 5V (1024 bit of resolution)
Digital I/O Pins 14 (of which 6 provide PWM
output)
Analog Input Pins 6
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory 32 KB of which 2 KB used by
bootloader •14 Digital input/output pins
SRAM 2 KB
EEPROM 1 KB (of which 6 can be used as
Clock Speed 16 MHz
PWM outputs)
•6 Analog inputs
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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Patient Safety Measures

Mechanical Stops
Software limits

33
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Smart phone Safety Measures

FIRST APPROACH SECOND APPROACH

Force control
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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Linear Guidance System Selection

Interposing Bronze Bushes : Interposing Ball Bushings Bearings :

Avantages : Advantages:
-Very economic ⁃ No need to additional lubrication.
⁃ Easy to set up ⁃ Relevant speed
Disadvantages : ⁃ low cost
⁃ low speed due to presence ⁃ High wear resistivity
of friction ⁃ High-precision
⁃ Quick wear of the bushes ⁃ Excellent corrosion resistivity
⁃ Compensation of misalignment
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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Aluminum POM Steel Stainless

Steel
Cost + +++ - ++
Strength + - +++ +++
Lighter ++ +++ - -
Ease of +++ + ++ -
manufacturing
Resistivity ++ - - +++
corrosion

36
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

The Von Mises Criterion:

 eq < adm
The equivalent stress of Von Mises:

 eq   x2   y2   z2   x y   x z   y z  3 xy
2
 3 xz
2
 3 yz
2

The allowable stress:

Yield stress
R
 adm = e
S
Coefficient of security

37
Distribution of Von Mises stress

Maximum stress
4.94 MPa

Allowable stress
138MPa

The VON MISES Criterion is verified

Displacement distribution

Maximum displacement
0.368512 mm

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 f=77.267 Hz f= 103.95 Hz

f= 126Hz

f= 87.627 Hz
f= 241.17Hz 39
Distribution of Von Mises stress

Maximum stress
67 MPa

allowable stress

120.5MPa

Distribution of Von Mises stress

maximum displacement

1.16164mm

40
 f=144.39Hz
f=144.39Hz

f=449.33Hz

f=766.47 Hz
f=512.4 Hz. 41
Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Conclusion
•Medical case followed + theoretical modeling of the system
•T-Rebot was made to keep the patient in touch with the external
world while regaining his hand’s sensorimotor function.
•Control of the finger motion via magnetic sensors

T-Rebot was made to keep the patient in touch with

the external world while regaining his hand’s
sensorimotor function.
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Motivation & Conclusion
Problem Clinical Sciope Simulation
Design & Future
Statement Case Work

Future work
• Optimize the robot design to have more degrees of freedom

• Control the robot using the Electromyography signals (EMG)

• Add tools to the system to help therapists analyzing the

patient’s data.

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Thank you for
your attention

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