This thesis stands up to show the PKankle robot developed by the Institute of Industrial Technologies and Automation (ITIA) of National Research Council (CNR) in Milan, aimed to improve the neuromuscular rehabilitation of physiological movements of the ankle. In the first part of the work we analyzed the state of the art concerning the robotic device for lower-limb rehabilitation as well as the kinematics and the differential kinematic which are defined by calculating the Jacobian of the robot in analysis. In the second part algorithms for the analysis of the electromyographic signal (EMG) were developed. EMG signal acquired during the use of the robot, is useful to control PKankle analyzing the residual muscle activity of the patients. The robot is a parallel spherical kinematic device with three rotary degrees of freedom. A biomechanical model of the lower limb was used in order to better understand the advantages of design of the robot developed. The study of the kinematics of PKankle was focused on the definition of the reference systems of the robot. In this way it was possible to easily define a reference trajectory which actually corresponds to the movements of the ankle joint so we obtained the Jacobian to study in depth the singularities. Through the analysis of the electromyographic signal, two algorithms for signal processing. They were designed to operate in real time, in order to distinguish between physiological muscle contractions and pathological muscle contractions, which are frequently observed in rehabilitation, called stretch reflexes. These algorithms have been tested using data sampled on patients in the Rehabilitation Centre ``Villa Beretta'', Hospital Valduce in Costamasnaga (LC). A statistical and diagnostic analysis was performed to validate the results obtained. The scenarios open by the work involve the integration of such analysis algorithms of the EMG signal within the control system of the robot to adjust the motion connected with the motor functions of the patient, thus favouring the individual rehabilitation strategies.
Nella presente Tesi viene analizzato il robot PKankle sviluppato dall'Istituto di Tecnologie Industriali e Automazione (ITIA) del Consiglio Nazionale delle Ricerche (CNR) di Milano avente come scopo la riabilitazione neuromuscolare dei movimenti fisiologici della caviglia. Nella prima parte del lavoro viene analizzato lo stato dell'arte riguardante i dispositivi di riabilitazione robotica dell'arto inferiore e vengono studiate la cinematica e la cinematica differenziale per mezzo dello Jacobiano del robot in esame. Nella seconda parte vengono sviluppati degli algoritmi per l'analisi del segnale EMG rilevato durante l'utilizzo del robot, utili al fine di controllare PKankle sulla base dell'attività muscolare residua dei pazienti. Il robot utilizzato è un meccanismo a cinematica parallela sferica a tre gradi di libertà rotativi. È stato utilizzato un modello biomeccanico dell'arto inferiore per meglio comprendere i pregi progettuali del robot sviluppato. Lo studio della cinematica di PKankle si è focalizzato sulla gestione dei sistemi di riferimento del robot in modo tale da poter definire facilmente una traiettoria di riferimento che corrisponda effettivamente ai movimenti dell'articolazione della caviglia. Si è quindi ricavato lo Jacobiano per approfondire lo studio delle singolarità. Attraverso l'analisi del segnale elettromiografico si sono sviluppati due algoritmi di elaborazione del segnale, progettati per funzionare in tempo reale, allo scopo di distinguere contrazioni muscolari fisiologiche dall'eventuale insorgere di contrazioni patologiche, frequentemente osservate in riabilitazione, chiamate riflessi da stiramento. Tali algoritmi sono stati testati utilizzando dati acquisiti su pazienti del Centro di Riabilitazione ""Villa Beretta'', Ospedale Valduce di Costamasnaga (LC). È stata eseguita un'analisi statistico-diagnostica per validare i risultati ottenuti. Gli scenari aperti dal lavoro riguardano l'integrazione di tali algoritmi di analisi del segnale all'interno del sistema di controllo del robot per regolarne il moto in relazione alle funzionalità motorie del paziente, favorendo così strategie riabilitative personalizzate.
Riabilitazione robotica dei movimenti della caviglia : concezione e sviluppo di algoritmi per l'identificazione di schemi patologici
MOLTENI, FEDERICO
2011/2012
Abstract
This thesis stands up to show the PKankle robot developed by the Institute of Industrial Technologies and Automation (ITIA) of National Research Council (CNR) in Milan, aimed to improve the neuromuscular rehabilitation of physiological movements of the ankle. In the first part of the work we analyzed the state of the art concerning the robotic device for lower-limb rehabilitation as well as the kinematics and the differential kinematic which are defined by calculating the Jacobian of the robot in analysis. In the second part algorithms for the analysis of the electromyographic signal (EMG) were developed. EMG signal acquired during the use of the robot, is useful to control PKankle analyzing the residual muscle activity of the patients. The robot is a parallel spherical kinematic device with three rotary degrees of freedom. A biomechanical model of the lower limb was used in order to better understand the advantages of design of the robot developed. The study of the kinematics of PKankle was focused on the definition of the reference systems of the robot. In this way it was possible to easily define a reference trajectory which actually corresponds to the movements of the ankle joint so we obtained the Jacobian to study in depth the singularities. Through the analysis of the electromyographic signal, two algorithms for signal processing. They were designed to operate in real time, in order to distinguish between physiological muscle contractions and pathological muscle contractions, which are frequently observed in rehabilitation, called stretch reflexes. These algorithms have been tested using data sampled on patients in the Rehabilitation Centre ``Villa Beretta'', Hospital Valduce in Costamasnaga (LC). A statistical and diagnostic analysis was performed to validate the results obtained. The scenarios open by the work involve the integration of such analysis algorithms of the EMG signal within the control system of the robot to adjust the motion connected with the motor functions of the patient, thus favouring the individual rehabilitation strategies.| File | Dimensione | Formato | |
|---|---|---|---|
|
2012_10_Molteni.pdf
non accessibile
Descrizione: Testo della tesi
Dimensione
11.04 MB
Formato
Adobe PDF
|
11.04 MB | Adobe PDF | Visualizza/Apri |
I documenti in POLITesi sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/10589/69042