Enhancing Upper Limb Rehabilitation: Workspace, Singularity and Structural Analysis of an Adaptive Two-Link Planar Manipulator

Open Access

Year : 2024 | Volume :12 | Special Issue : 04 | Page : 162-174
By

Karimulla Syed,

dr. G. Yedukondalu,

N.V.N.G Joga Rao,

Nandhivargam Rachan,

Kodali Ajay,

Abdul Malik,

  1. Research Scholar, Department of Mechanical Engineering, Koneru Lakshmaiah Education Foundation, GreenFileds, Vaddeswaram,, Andhra Pradesh, India
  2. Associate Professor, Department of Mechanical Engineering, Koneru Lakshmaiah Education Foundation, GreenFileds, Vaddeswaram,, Andhra Pradesh, India
  3. Student, Department of Mechanical Engineering, Koneru Lakshmaiah Education Foundation, GreenFileds, Vaddeswaram,, Andhra Pradesh, India
  4. Student, Department of Mechanical Engineering, Koneru Lakshmaiah Education Foundation, GreenFileds, Vaddeswaram,, Andhra Pradesh, India
  5. Student, Department of Mechanical Engineering, Koneru Lakshmaiah Education Foundation, GreenFileds, Vaddeswaram,, Andhra Pradesh, India
  6. Student, Department of Mechanical Engineering, Koneru Lakshmaiah Education Foundation, GreenFileds, Vaddeswaram,, Andhra Pradesh, India

Abstract

The current shortage of therapists and caregivers who assist individuals with physical disabilities at home is anticipated to worsen in the future. Rehabilitation for upper limb exercises conducted by physical therapists is both time-consuming and expensive. This paper introduces a lightweight two-link planar device with revolute joints designed for upper limb rehabilitation. The primary focus is on the end-effector setup, evaluating its potential to enhance rehabilitation techniques. The manipulator’s design aims to maximize end-effector coverage during training sessions, thereby improving the efficacy of rehabilitation. A mathematical model of the manipulator’s kinematics is presented, detailing the relationships between joint angles and end-effector positions to understand its operational bounds. By analyzing singular configurations, the manipulator’s limitations are determined, and control strategies are developed to prevent potential issues during rehabilitation. A device is constructed to simulate and visualize the manipulator’s workspace within a computational environment, allowing for exploration of joint ranges and workspace boundaries. This computational framework facilitates a deeper understanding of the manipulator’s capabilities, offering crucial insights for making informed decisions in rehabilitation training. Finally, the developed manipulator holds promise for enhancing the quality of upper limb rehabilitation, ensuring precise control over movement patterns, and enabling personalized training regimens. The insights gained from this study contribute to the ongoing development and refinement of robotic-assisted rehabilitation technologies, aiming to improve outcomes for individuals with upper limb impairments.

Keywords: Upper limb rehabilitation, planar manipulator, kinematic model, singularities, workspace analysis.

[This article belongs to Special Issue under section in Journal of Polymer and Composites (jopc)]

How to cite this article:
Karimulla Syed, dr. G. Yedukondalu, N.V.N.G Joga Rao, Nandhivargam Rachan, Kodali Ajay, Abdul Malik. Enhancing Upper Limb Rehabilitation: Workspace, Singularity and Structural Analysis of an Adaptive Two-Link Planar Manipulator. Journal of Polymer and Composites. 2024; 12(04):162-174.
How to cite this URL:
Karimulla Syed, dr. G. Yedukondalu, N.V.N.G Joga Rao, Nandhivargam Rachan, Kodali Ajay, Abdul Malik. Enhancing Upper Limb Rehabilitation: Workspace, Singularity and Structural Analysis of an Adaptive Two-Link Planar Manipulator. Journal of Polymer and Composites. 2024; 12(04):162-174. Available from: https://journals.stmjournals.com/jopc/article=2024/view=174549


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Special Issue Open Access Original Research
Volume 12
Special Issue 04
Received May 1, 2024
Accepted June 23, 2024
Published July 16, 2024
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