Optimization of the ASPIRE Spherical Parallel Rehabilitation Robot Based on Its Clinical Evaluation

Paul Tucan, Calin Vaida, Ionut Ulinici, Alexandru Banica, Alin Burz, Nicoleta Pop, Iosif Birlescu, Bogdan Gherman, Nicolae Plitea, Tiberiu Antal, Giuseppe Carbone and Doina Pisla
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Paul Tucan: CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania
Calin Vaida: CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania
Ionut Ulinici: CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania
Alexandru Banica: CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania
Alin Burz: CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania
Nicoleta Pop: CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania
Iosif Birlescu: CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania
Bogdan Gherman: CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania
Nicolae Plitea: CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania
Tiberiu Antal: CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania
Giuseppe Carbone: DIMEG, University of Calabria, 87036 Cosenza, Italy
Doina Pisla: CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania

IJERPH, 2021, vol. 18, issue 6, 1-19

Abstract: The paper presents the design optimization of the ASPIRE spherical parallel robot for shoulder rehabilitation following clinical evaluation and clinicians’ feedback. After the development of the robotic structure and the implementation of the control system, ASPIRE was prepared for clinical evaluation. A set of clinical trials was performed on 24 patients with different neurological disorders to obtain the patient and clinician acceptance of the rehabilitation system. During the clinical trials, the behavior of the robotic system was closely monitored and analyzed in order to improve its reliability and overall efficiency. Along with its reliability and efficiency, special attention was given to the safety characteristics during the rehabilitation task.

Keywords: robotic assisted rehabilitation; neuro-muscular disorders; stroke clinical trial; design; optimization (search for similar items in EconPapers)
JEL-codes: I I1 I3 Q Q5 (search for similar items in EconPapers)
Date: 2021
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