1. Wrist and fingers rehabilitation device Jaroslav Sobota, Jan Kutlwašer

2. Wrist and finger home rehabilitation device Rehabilitation of wrist and fingers after surgical treatment of flexor/extensor tendons Rehabilitation of neurological pacients – stroke, brain and spinal cord injury, Parkinson disease, multiple sclerosis Mechatronics-based Rehabilitation at Home2 Smart mechatronic device complementing or replacing existing mechanical aids

3. MRH device requirements User: Intuitive graphical interface, ideally making the excersises fun Ergonomic design M.D. / Physiotherapist: Remote monitoring of rehabilitation activities (frequency, efectiveness) Remote adjustment of the excersises Manufacturer / Service provider: Remote functionality diagnostics and service (firmware upgrade) Legislative and regulatory: Safety, data security Mechatronics-based Rehabilitation at Home3

4. Project team Department of Cybernetics R&D in embedded and distributed control systems and algorithms for process control, robotics and mechatronics Department of Machine Design Prototype development New study programme „Construction of medical equipment“ Mechatronics-based Rehabilitation at Home4

5. Brief description of the device Exoskeleton architecture Real-time measurement and control Graphical user interface Data archiving, remote access Mechatronics-based Rehabilitation at Home5

6. Control algorithm Graphical programming in the REX control system Bottom-up development Individual control of each phalanx in continuous passive motion (CPM) mode Defined velocity, acceleration and maximum angle Mechatronics-based Rehabilitation at Home6

7. Definition of exercises Sequential state machine programmed in SFC Editor Chain of conditioned actions Each state triggers movements of individual phalanxes Once the transition condition is fulfilled (angle is reached), next state is activated Once all the actions are performed, the cycle returns to initial state and can be repeated Mechatronics-based Rehabilitation at Home7

8. User interface Java-based visualization framework Real-time visualization of the exercise - animated 3D models (based on measured data) - running 2D plots (based on measured data) - exercise parameters Can be used locally or for remote supervision Straightforward design from CAD drawing Mechatronics-based Rehabilitation at Home8

9. Simulation of exercises Verification and/or visualization of the exercise Avoiding movements beyond ROM Preparing patient for the exercise Minor changes for guiding the patient through active exercises, the requested movement or target position is displayed Mechatronics-based Rehabilitation at Home9

10. Highlights of our approach REX control system is compatible with Matlab/Simulink Control algorithm can be easily verified before deployment No coding required, transfer to target platform is straightforward Visualization and user interface framework is available All parameters of the exercises can be changed over the internet Records of exercises are stored and can be used to evaluate the progress of rehabilitation treatment Mechatronics-based Rehabilitation at Home10

11. Philosophy of hand rehabilitation device Mechatronics-based Rehabilitation at Home11 Whole device is modular assembly there are two basis (one for left hand and one for right hand) “fingers” of mechanism are in different sizes for each phalanx thumb’s holder is in more than one size servos, screws, are the same Fingerholders are cleanable or changeable

12. Philosophy of hand rehabilitation device Mechatronics-based Rehabilitation at Home12 Hand rehabilitation device cycle device is assembled for specific patient patient use it at home patient returns the device the device is disassembled some parts are renewed exercise program setup by therapist parts are stored for new usage therapist checks the exercise and changes exercise program values waste new parts excercise data

13. Simplified design – the 1 st design Mechatronics-based Rehabilitation at Home13

14. Simplified design – the new one Mechatronics-based Rehabilitation at Home14

15. Simplified design – pros and cons Mechatronics-based Rehabilitation at Home15 Advantages of the new design: less number of parts easiest assembly measuring system in the servos could be used Disadvantages of the new design: rods of mechanism are slightly moved from center of axis

16. 1 st physical prototype Prototype for software tests and modularity tests Designed in “Design for Cost” philosophy

17. Summary Insight into research and development at UWB within the MRH project The software and hardware part of the hand rehabilitation device The development continues … Mechatronics-based Rehabilitation at Home17

18. Summary Insight into research and development at UWB within the MRH project The software and hardware part of the hand rehabilitation device The development continues … Thank you for your attention Contact: Jaroslav Sobota (jsobota@kky.zcu.cz)jsobota@kky.zcu.cz Jan Kutlwašer (kutlis@kks.zcu.cz)kutlis@kks.zcu.cz Josef Formánek (formanek@kks.zcu.cz)formanek@kks.zcu.cz Mechatronics-based Rehabilitation at Home18