ISSN Print 2713-2757
ISSN Online 2713-2765
SCIENTIFIC AND PRACTICAL REVIEWED JOURNAL OF FMBA OF RUSSIA
ORIGINAL RESEARCH
Solution to the problem of designing a safe configuration of a human upper limb robotic prosthesis
About authors
1 Center for Development of Science, Technology and Education in the Field of Defense and State Security, National Research Tomsk State University, Tomsk, Russia
2 Federal Research and Clinical Center of Medical Rehabilitation and Balneology of the Federal Medical Biological Agency, Moscow, Russia
Corresponding author: Dmitry S. Zhdanov
Krasnoarmeyskaya, 14, Tomsk, 634029, Russia; ur.liam@vonadhZ_S_D
About paper
Funding: The study was conducted in the context of execution of the State Task by the Ministry of Education and Science of Russia, project #FSWM-2022-0008.
Acknowledgments: Natalya Abdulkina, deputy general director of the Federal Scientific and Clinical Center for Medical Rehabilitation and Balneology of the Federal Medical Biological Agency, for comprehensive support of the researchers; Alexander Vorozhtsov, vice-rector for research and innovation activities of the National Research Tomsk State University, for his contribution to the scientific progress in the field of medical robotics.
Compliance with the ethical standards: Conclusion of the local ethical committee at the Federal Scientific and Clinical Center for Medical Rehabilitation and Balneology of the Federal Medical Biological Agency #1 of July 06, 2022. At this stage, the study involved no patients, therefore, no signed voluntary informed consents forms were required.
Received: 2022-12-06
Accepted: 2022-12-20
Published online: 2022-12-30
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This study aimed to develop a method allowing to improve safety of use of robotic medical rehabilitation devices by designing and testing an algorithm for calculation of the angular positions of rehabilitation robotic manipulators or robotic prostheses and allowing to reproduce the natural arc of a human arm under control of a CVS. The Introduction section supports the urgency of development of the methods granting control over positioning of robotic manipulators with the help of a computer vision system (CVS) and thus guarantee safety of patients and medical personnel in the context of work with medical robotic rehabilitation devices. The Materials and Methods section contains a brief description of the robotic arm used in this study, a description of the existing approaches to calculation of angular positions of drives, and a description of the proposed algorithm. The final sections compare application of the proposed algorithm and existing methods of calculation of angular positions of drives of robotic manipulators (robotic prostheses) and outline the possible directions for further improvement.
Keywords: human safety, manipulator control, robotic prosthesis, robotic rehabilitation, three-dimensional coordinate, vision systems, kinematics