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ReHubJr Rehabilitation Helper

The open source 6- channel massage and differential dynamometer rehabilitation devise can be used for Post Stroke spasticity rehabilitation.

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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.

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.

3dParts.zip

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BuildInstruction3.pdf

pdf Buildinstruction

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ServoMotorsSchematics.jpg

Schematics of a Servo MOtors part

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Dinamometr_Schematics.jpg

Schematics of a Dynomometr part

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  • 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

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  • 1
    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.

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