Kongu Engineering College

Department of EEE
DESIGN AND IMPLEMENTATION
OF ASSISTIVE ROBOT ARM FOR
THE HEMIPARETIC PATIENTS
20EEP81 Project Work – II, Phase – II

SECOND REVIEW
Project by
1. 21EER080 – SHAUMINI B N
2. 21EER090 – SRINITHI M
3. 21EER099 – UMAMAHESWARI A
4. 21EEL114 – HARIHARAN R

BATCH NO: B-13

Guided by
Mr. V. KUMARESAN
Assistant Professor (Senior Grade),
Department of EEE,
Kongu Engineering College
7/22/2024
 Project Area

● Medical Mechatronics : Health care and Biomedical

Devices

7/22/2024
 Objective – Proposed work

Phase – II
The objective of the proposed work is to
● Complete the development of the robotic arm with
all functionalities integrated.
● Enable remote monitoring and daily data access for
clinicians through IoT integration.
● Provide visible progress data to enhance patient
motivation and support continuous remote assessment.
 LITERATURE REVIEW

S. Journal
Title Authors Approach Observation
No. Details
1. IEEE Soft, Lightweight Bernardo •Testing the • Significant reductions
Transaction Wearable Robots Noronha; integrated in mean muscular
s on Neural to Support the Chwee system on 10 activity were observed
Systems and Upper Limb in Yin Ng; chronic
Rehabilitati Activities of Kieran stroke
on Daily Living: A Little; patients
Engineering Feasibility Study Michele performing 10
, vol. 30, pp. on Chronic Xiloyann Activities of
1401-1411, Stroke Patients is Daily Living.
2022.
S.
No. Journal Details Title Authors Approach Observation

2. IEEE Wrist V. Squeri, •Adaptive •It

demonstrated
Transactions on rehabilitation L. Masia, Control sustained
Neural Systems in chronic P. Scheme for improvements in both
and stroke Giannoni Wrist distal and proximal
Rehabilitation patients by , Movements arm functionalities.
Engineering, vol. means of G. Sandini
22, no. 2, pp. adaptive, and P.
312-325, March progressive Morasso
2014. robot-aided
therapy
 LITERATURE REVIEW

S.
Journal Details Title Authors Approach Observation
No.
3. IEEE Affordable Andrea •Developing •The LMICs face
Transactions Robotics for Demofonti simpler robots significant barriers
on Medical Upper Limb ; Giorgio using in providing
Stroke Carpino; lightweight and adequate post-
Robotics and Rehabilitatio Loredana less expensive stroke
Bionics n in Zollo; materials like rehabilitation.
( Volume: 3, Developing Michelle wood, •High costs of
Issue: 1, Countries: A J. aluminum, rehabilitation robotics
February Systematic Johnson plastic limit their availability in
2021) Review LMIC.

4. IEEE Mechanisms S. •Methodolog •The Movement velocity

Transactions on of Motor Mazzoleni y improved in both
Haptics, vol. 7, Recovery in , L. for patient groups
no. 2, pp. Chronic and Puzzolant Analyzing following the
Recovery robot-aided therapy.
175-180, Subacute e, L.
Mechanisms
April-June Stroke Zollo, P. •Monitorin
2014. Patients Dario and g
Following a F. Forces for
Robot-Aided Posteraro Recovery
Training Insight:
 LITERATURE REVIEW

S.
Journal Details Title Authors Approach Observation
No.
5. IEEE Robotic P. S. Lum, •Experimental • Task Assistance
Transactions on assist D. J. •Techniques •Support for
Rehabilitation devices for Reinkensm used is Disabled Hand
Engineering, vol. bimanual eyer and S. Thingspeak
1, no. 3, pp. physical L. Lehman
185-191, Sept. therapy: application.
2013. preliminary
experiments

6. IEEE/ASME Developmen Satoshi •Multi-DOF •The hand

Transactions on t of a Ueki; rehabilitation system
Mechatronics, Hand-Assist Haruhisa Exoskeleton demonstrated
vol. 17, no. 1, pp. Robot With Kawasaki; Robot sufficient
136-146, Feb. Multi-Degre Satoshi Ito; •Self- performance in
2012. es-of-Freedo Yutaka Motion the range of
m for Nishimoto; Control motion.
Rehabilitati Strategy
on Therapy
 LITERATURE REVIEW

S.
Journal Details Title Authors Approach Observation
No.

7. IEEE An Daniele •Real-Time

Transactions EMG-Contro Leonardis; EMG • Uses EMG
on Haptics, lled Robotic Michele Signal signals from the
vol. 8, Hand Barsotti; Cl Processing non-paretic hand
no. 2, pp. Exoskeleton audio to assist the
140-151, 1 for Bilateral Loconsole; paretic hand
April-June Rehabilitatio Massimilia • Effective in
2015. n no Solazzi rehabilitation
with any
graspable object
• Validated
through
experiments with
healthy subjects
and stroke patients
 LITERATURE REVIEW

S.
Journal Details Title Authors Approach Observation
No.

8. IEEE Robotics Learning by C. Lauretti, •The system •The proposed motion

and Demonstratio F. Cordella, uses a planning system
Automation n for E. learning by accurately
Letters, vol. 2, Planning Guglielmell demonstration reproduces
no. 3, pp. Activities of i and L. approach the user's personal
1375-1382, Daily Living Zollo based on motion style.
July in dynamic •The system
2017. Rehabilitatio movement efficiently
n and primitives generalizes to
Assistive (DMP) for variations in object
Robotics motion positions, achieving
planning in a high success rate
assistive or in task
rehabilitation execution.
scenarios.
 Summary of Literature

• Movement velocity improved in both patient groups

following robot-aided therapy.
• The hand rehabilitation system effectively supports the disabled
hand using EMG signals from the non-paretic hand to assist the
paretic hand, and is validated with both healthy subjects and stroke
patients.
• The system demonstrated sufficient performance in range of motion
and is effective with any graspable object.
 Block Diagram of project

LCD
POWER SUPPLY

IOT
EMG sensor

Nodemcu
FSR sensor esp8266 Motor Driver
(muscle strain
against resistance)
Motor

Gyroscope
Robotic hand gripper
 Components Required

• Nodemcu esp8266
• IOT module-ESP8266
• EMG sensor
• FSR sensor
• Gyroscope sensor
• DC motor
• Motor Drive - IC l293D
• Power Supply
• LCD
Simulation of the project
 Output of Simulation
Under Normal Condition:
Under Abnormal Condition:
Hardware of the project
 References
• B. Noronha et al., "Soft, Lightweight Wearable Robots to Support the
Upper Limb in Activities of Daily Living: A Feasibility Study on
Chronic Stroke Patients," in IEEE Transactions on Neural Systems and
Rehabilitation Engineering, vol. 30, pp. 1401-1411, 2022, doi:
10.1109/TNSRE.2022.3175224.
• V. Squeri, L. Masia, P. Giannoni, G. Sandini and P. Morasso, "Wrist
rehabilitation in chronic stroke patients by means of adaptive,
progressive robot-aided therapy," in IEEE Transactions on Neural
Systems and Rehabilitation Engineering, vol. 22, no. 2, pp.
312-325, March 2014, doi: 10.1109/TNSRE.2013.2250521
• S. Mazzoleni, L. Puzzolante, L. Zollo, P. Dario and F. Posteraro,
"Mechanisms of Motor Recovery in Chronic and Subacute Stroke
Patients Following a Robot-Aided Training," in IEEE Transactions on
Haptics, vol. 7, no. 2, pp. 175-180, April-June 2014, doi:
10.1109/TOH.2013.73
• P. S. Lum, D. J. Reinkensmeyer and S. L. Lehman, "Robotic assist
devices for bimanual physical therapy: preliminary experiments,"
in IEEE Transactions on Rehabilitation Engineering, vol. 1,
no. 3, pp. 185-191, Sept. 2013, doi: 10.1109/86.279267
• S. Ueki et al., "Development of a Hand-Assist Robot With
Multi-Degrees-of-Freedom for Rehabilitation Therapy," in
IEEE/ASME Transactions on Mechatronics, vol. 17, no. 1, pp.
136-146, Feb. 2012, doi: 10.1109/TMECH.2010.2090353
• C. Lauretti, F. Cordella, E. Guglielmelli and L. Zollo, "Learning by
Demonstration for Planning Activities of Daily Living in Rehabilitation
and Assistive Robotics," in IEEE Robotics and Automation Letters, vol.
2, no. 3, pp. 1375-1382, July 2017, doi:
10.1109/LRA.2017.2669369
• D. Leonardis et al., "An EMG-Controlled Robotic Hand Exoskeleton for
Bilateral Rehabilitation," in IEEE Transactions on Haptics, vol. 8,
no. 2,pp. 140-151, 1 April-June 2015, doi:
10.1109/TOH.2015.2417570.