Description

Stroke is 30+ (not 60+ as earlier!) now. Stroke is leading cause of disability. The spasticity is the most common post stroke consequence. The rehabilitation of lost motor functions must be made as soon as possible. The assisted rehabilitation is maximally effective in the first month. We construct simple and chip rehabilitation robotics device - Post Stroke Spasticity Rehabjr Helper. The base of the Rehab Helper is Arduino and 12 micro servos SG90 with 6 tenzobridges, so it is possible to mage a massage and measure the fingers reaction (force) to make biological feedback. Device moves the fingers to restore plasticity and initiate rehabilitation.
Every mechanism is 5-bar linkage that converts rotational motions of servos to 2-D motion. The top of linkage is equipped by swivel, for the finger holder is attached to the swivel. The fingers are fixed with an adhesive bandage and magnetic button slasp snaps.User can select any of 17 modes be button or IOS application.

Details

Stroke is 30+ (not 60+ as earlier!) now. Stroke is leading cause of disability. The spasticity is the most common post stroke consequence.

The rehabilitation of lost motor functions must be made as soon as possible. The assisted rehabilitation is maximally effective in the first 1- 2 months. We construct simple and chip rehabilitation robotics device - Post Stroke Spasticity Rehab Helper. The base of the Rehab Helper is Arduino Nano and 12 micro servos SG90. You can assemble the Rehab Helper with 2, 4, 6, 8 or 12 servos, for 1-2-3-4-5 +1 (for left / right hands) fingers. The force of movements are measured by tenzo Bridges. You can see the force plot and values on PC or Smartphone screen.

Every mechanism is 5-bar linkage that convert rotational motions of servos to 2-dimensional motion. The top of linkage is equipped by swivel, for the finger holder is attached to the swivel. The fingers are fixed with sticking plaster.

User can control the amplitude of massage and movement mode (16 preprogrammed).

The servos are controlled by Arduino Nano board. Every finger holder movement is 64 point interpolation of curve. Program code is free (GPLv2). All schematics, fugures, photo are open for private use. It can be controlled via PC or autonomously.

Files

3dParts.zip

3d parts for 3d printer

application/x-zip-compressed - 74.44 kB - 08/07/2019 at 19:53

Download

BuildInstruction3.pdf

pdf Buildinstruction

Adobe Portable Document Format - 1.77 MB - 08/07/2019 at 19:52

Preview

ServoMotorsSchematics.jpg

Schematics of a Servo MOtors part

JPEG Image - 577.24 kB - 08/01/2019 at 23:36

Preview

Dinamometr_Schematics.jpg

Schematics of a Dynomometr part

JPEG Image - 642.66 kB - 08/01/2019 at 23:35

Preview

Components

2 × Controller Arduino nano R3 CH340 Controller Arduino nano R3 CH340 992-ARD-NANO30NP

12 × Servo mini Servo mini SG90 9g Tower Pro

1 × Blue Tooth interface HC-05

6 × ADC for tenzo bridges 24 bit ADC shild HX-711 shild 474-SEN-13879

6 × Strain Gauge Strain Gauge Kitchen Scale Sensor 5 kG

Project Logs

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Build Instructions

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POST STROKE SPASTICITY REHAB HELPER

Bill of Materials

We use in the project the components

No	Q	Name	Description
1	2	Controller	Arduino nano R3
2	6	Tenzo Bridge	Pressure Sensor Scale Module
3	6	ADC fo Tenzo Bridge	HX-711
4	12	Servo mini SG90	Servo mini SG90 9g Tower Pro
5	0	Blue Tooth module	HC-05
6	6	Magnetic Snaps	3/4-inch size Magnetic Button Clasp Snaps
7	2	Shottky Diodes	Shottky Diodes 1N5817
8	2	3300 uF 16 V capacitor	Low ESR capacitor.
9	2	0.1 uF 16 V capacitor	Capacitor for high friequency noise damp.
10	3	Low base for servo	3D printed or milled plastic components
11	2	High base for servo	3D printed or milled plastic components
12	10	Servo mounted lever arm	3D printed or milled plastic components
13	6	Short node lever	3D printed or milled plastic components
14	4	Long node lever	3D printed or milled plastic components
15	2	Breadboard	Plastic Breadboard or other flat plastic

2
Bill of Materials
We make some introduction about it.
- Controller Arduino Nano R3.x (992-ARD-NANO30NP) or any Arduino Nano R3.x compatible.
- Servo SG90 9g Tower Pro. You can use any type of Servo. Please pay attention that some servos can have other control pulse parameters.
- Magnetic Button Clasp Snaps
  18mm (3/4-inch) size Magnetic Button Clasp Snaps
- Breadboard.We used plastic cutting board, but any flat surface can be used.
- Scale weight sensors 10 kG (or other)
3

Schematics

Schematics consists of two parts - 12-servo controller and differential dynamometer. For connection can be used USB or BT interface.

View all 9 instructions

Discussions

Jean Pierre Le Rouzic wrote 09/03/2023 at 08:16

Thanks! I will check them ASAP

Are you sure? yes | no

Sergei V. Bogdanov wrote 09/03/2023 at 07:50

https://www.youtube.com/watch?v=LWCHI8DpslQ&t=122s

Are you sure? yes | no

Jean Pierre Le Rouzic wrote 09/03/2023 at 07:34

Fantastic project!
Do you have a video?
Do you know Ipsihand brain computer interface?

Are you sure? yes | no

Sergei V. Bogdanov wrote 09/03/2023 at 07:51

https://www.youtube.com/watch?v=LWCHI8DpslQ&t=122s

Are you sure? yes | no

Sergei V. Bogdanov wrote 09/03/2023 at 07:51

https://www.youtube.com/watch?v=lTpqyp4tfYI&t=34s

Are you sure? yes | no

Sergei V. Bogdanov wrote 09/03/2023 at 07:52

https://www.youtube.com/watch?v=-t-BqfZ5sCI&t=169s

Are you sure? yes | no

ReHubJr Rehabilitation Helper

Description

Details