Design And Development Of Robot End-Effector For The Use In Lower-Limb Stroke Rehabilitation Exercises
Stroke is the second largest cause of human death worldwide and is also a major cause of long-term disability such as walking gait abnormalities. Rehabilitation is essential in helping patients regain as much motor function as possible. Robot assisted rehabilitation is currently the forefront in thi...
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| Format: | Monograph |
| Language: | English |
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Universiti Sains Malaysia
2022
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| Online Access: | http://eprints.usm.my/55904/ http://eprints.usm.my/55904/1/Design%20And%20Development%20Of%20Robot%20End-Effector%20For%20The%20Use%20In%20Lower-Limb%20Stroke%20Rehabilitation%20Exercises_Thivines%20Murugaya.pdf |
| _version_ | 1848883210910433280 |
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| author | Murugaya, Thivines |
| author_facet | Murugaya, Thivines |
| author_sort | Murugaya, Thivines |
| building | USM Institutional Repository |
| collection | Online Access |
| description | Stroke is the second largest cause of human death worldwide and is also a major cause of long-term disability such as walking gait abnormalities. Rehabilitation is essential in helping patients regain as much motor function as possible. Robot assisted rehabilitation is currently the forefront in this regard. However, no solutions are currently widely available for use in developing countries like Malaysia. Therefore, there is space for such a product to be developed and commercialized. Thus, a smart lower-limb end-effector prototype that can be installed on a collaborative robot to aid patients performing exercises such as plantarflexion, dorsiflexion, hip abduction and hip adduction was developed. The project kick started by designing the end effector as four different parts on in Solidwork. This step is then followed by slicing process using Ultimaker Cura and then 3D printing. The 3D printed is then assembled up and tested for strength and design accuracy. At this stage, any design failure is then followed by redesigning and 3D printing again. Meanwhile, MPU6050 sensor was coded using Arduino Uno and powered by NodeMcu. This set up was placed on the foot holder to measure the rehabilitation angle. The sensor is also connected any app which was developed using Blynk to showcase the data obtained in terms of angle X˚, Y˚ and Z˚ Then, two healthy subjects, a male and female were choosen to carry out all four type of exercises mentioned above. The results obtained shows that angle recorded falls within the range of a human to carry out those exercise (20-35° of dorsiflexion, 15-30° of plantarflexion, 30–55° of hip abduction and 15–30° of hip adduction). This shows that the end effector perms well and can be used to aid physiotherapist and the patient. Therefore, a smart lower-limb end-effector prototype that can be installed on a collaborative robot to aid patients performing various leg exercises has been successfully created which also incooperates IoT elements. |
| first_indexed | 2025-11-15T18:47:12Z |
| format | Monograph |
| id | usm-55904 |
| institution | Universiti Sains Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T18:47:12Z |
| publishDate | 2022 |
| publisher | Universiti Sains Malaysia |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | usm-559042022-12-05T09:10:38Z http://eprints.usm.my/55904/ Design And Development Of Robot End-Effector For The Use In Lower-Limb Stroke Rehabilitation Exercises Murugaya, Thivines T Technology TJ Mechanical engineering and machinery Stroke is the second largest cause of human death worldwide and is also a major cause of long-term disability such as walking gait abnormalities. Rehabilitation is essential in helping patients regain as much motor function as possible. Robot assisted rehabilitation is currently the forefront in this regard. However, no solutions are currently widely available for use in developing countries like Malaysia. Therefore, there is space for such a product to be developed and commercialized. Thus, a smart lower-limb end-effector prototype that can be installed on a collaborative robot to aid patients performing exercises such as plantarflexion, dorsiflexion, hip abduction and hip adduction was developed. The project kick started by designing the end effector as four different parts on in Solidwork. This step is then followed by slicing process using Ultimaker Cura and then 3D printing. The 3D printed is then assembled up and tested for strength and design accuracy. At this stage, any design failure is then followed by redesigning and 3D printing again. Meanwhile, MPU6050 sensor was coded using Arduino Uno and powered by NodeMcu. This set up was placed on the foot holder to measure the rehabilitation angle. The sensor is also connected any app which was developed using Blynk to showcase the data obtained in terms of angle X˚, Y˚ and Z˚ Then, two healthy subjects, a male and female were choosen to carry out all four type of exercises mentioned above. The results obtained shows that angle recorded falls within the range of a human to carry out those exercise (20-35° of dorsiflexion, 15-30° of plantarflexion, 30–55° of hip abduction and 15–30° of hip adduction). This shows that the end effector perms well and can be used to aid physiotherapist and the patient. Therefore, a smart lower-limb end-effector prototype that can be installed on a collaborative robot to aid patients performing various leg exercises has been successfully created which also incooperates IoT elements. Universiti Sains Malaysia 2022-07-25 Monograph NonPeerReviewed application/pdf en http://eprints.usm.my/55904/1/Design%20And%20Development%20Of%20Robot%20End-Effector%20For%20The%20Use%20In%20Lower-Limb%20Stroke%20Rehabilitation%20Exercises_Thivines%20Murugaya.pdf Murugaya, Thivines (2022) Design And Development Of Robot End-Effector For The Use In Lower-Limb Stroke Rehabilitation Exercises. Project Report. Universiti Sains Malaysia, Pusat Pengajian Kejuruteraan Mekanikal. (Submitted) |
| spellingShingle | T Technology TJ Mechanical engineering and machinery Murugaya, Thivines Design And Development Of Robot End-Effector For The Use In Lower-Limb Stroke Rehabilitation Exercises |
| title | Design And Development Of Robot End-Effector For The Use In Lower-Limb Stroke Rehabilitation Exercises |
| title_full | Design And Development Of Robot End-Effector For The Use In Lower-Limb Stroke Rehabilitation Exercises |
| title_fullStr | Design And Development Of Robot End-Effector For The Use In Lower-Limb Stroke Rehabilitation Exercises |
| title_full_unstemmed | Design And Development Of Robot End-Effector For The Use In Lower-Limb Stroke Rehabilitation Exercises |
| title_short | Design And Development Of Robot End-Effector For The Use In Lower-Limb Stroke Rehabilitation Exercises |
| title_sort | design and development of robot end-effector for the use in lower-limb stroke rehabilitation exercises |
| topic | T Technology TJ Mechanical engineering and machinery |
| url | http://eprints.usm.my/55904/ http://eprints.usm.my/55904/1/Design%20And%20Development%20Of%20Robot%20End-Effector%20For%20The%20Use%20In%20Lower-Limb%20Stroke%20Rehabilitation%20Exercises_Thivines%20Murugaya.pdf |