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Addition of Humeral Rotation to Incr...

Roosth, Mira Shoshana.

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Addition of Humeral Rotation to Increase the Range-of-Motion of the Socially Assistive Robot Arms and Improve Functionality.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Addition of Humeral Rotation to Increase the Range-of-Motion of the Socially Assistive Robot Arms and Improve Functionality./
作者:	Roosth, Mira Shoshana.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2023,
面頁冊數:	62 p.
附註:	Source: Masters Abstracts International, Volume: 84-11.
Contained By:	Masters Abstracts International84-11.
標題:	Biomedical engineering. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30488666
ISBN:	9798379504014

Addition of Humeral Rotation to Increase the Range-of-Motion of the Socially Assistive Robot Arms and Improve Functionality.
Roosth, Mira Shoshana.

Addition of Humeral Rotation to Increase the Range-of-Motion of the Socially Assistive Robot Arms and Improve Functionality. - Ann Arbor : ProQuest Dissertations & Theses, 2023 - 62 p.

Source: Masters Abstracts International, Volume: 84-11.

Thesis (M.S.)--University of Colorado at Denver, 2023.

This item must not be sold to any third party vendors.

Cerebral Palsy (CP) is a common motor disability that affects 2 out of every 1000 births in the United States. While the brain injury causing CP is non-progressive, symptoms associated with it tend to worsen over time. Motor therapy employed upon diagnosis often focuses on goal-oriented task repetition in order to capitalize on early age neuroplasticity to solidify neural pathways, but these repetitive, difficult tasks are frequently not engaging enough to garner therapeutic motivation. To counteract this obstacle, a socially assistive robot (SAR) has been developed that encourages children's engagement through its toy-like appearance and through gestures. While the SAR meets the minimum criteria for successful social interaction, its limited mobility imposes restrictions on both its therapeutic and social potential. In order to move past this disadvantage, the SAR arms were augmented to include internal/external rotation alongside the originally established degrees of freedom (shoulder flexion/extension, shoulder abduction/adduction, and elbow flexion/extension). This new joint allowed for the updating of previously programmed positions along with the addition of new exercises that require humeral rotation, such as clapping and midline reaching. To validate the alteration made to the SAR arms, SOLIDWORKS motion studies were created which compare the range-of-motion of the original arm design to the new arm design. The graphics produced by these motion studies showcase the new design's ability to bring the end effector to the midline, a skill that allows new positions and exercises to be accessed and utilized for therapy sessions. The results of the changes made to the SAR point to the potential improvement of both motor performance and social engagement, thus leading to an overall more successful therapeutic partner.

ISBN: 9798379504014Subjects--Topical Terms:

535387
Biomedical engineering.
Subjects--Index Terms:

Cerebral palsy

Addition of Humeral Rotation to Increase the Range-of-Motion of the Socially Assistive Robot Arms and Improve Functionality.
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520 $a Cerebral Palsy (CP) is a common motor disability that affects 2 out of every 1000 births in the United States. While the brain injury causing CP is non-progressive, symptoms associated with it tend to worsen over time. Motor therapy employed upon diagnosis often focuses on goal-oriented task repetition in order to capitalize on early age neuroplasticity to solidify neural pathways, but these repetitive, difficult tasks are frequently not engaging enough to garner therapeutic motivation. To counteract this obstacle, a socially assistive robot (SAR) has been developed that encourages children's engagement through its toy-like appearance and through gestures. While the SAR meets the minimum criteria for successful social interaction, its limited mobility imposes restrictions on both its therapeutic and social potential. In order to move past this disadvantage, the SAR arms were augmented to include internal/external rotation alongside the originally established degrees of freedom (shoulder flexion/extension, shoulder abduction/adduction, and elbow flexion/extension). This new joint allowed for the updating of previously programmed positions along with the addition of new exercises that require humeral rotation, such as clapping and midline reaching. To validate the alteration made to the SAR arms, SOLIDWORKS motion studies were created which compare the range-of-motion of the original arm design to the new arm design. The graphics produced by these motion studies showcase the new design's ability to bring the end effector to the midline, a skill that allows new positions and exercises to be accessed and utilized for therapy sessions. The results of the changes made to the SAR point to the potential improvement of both motor performance and social engagement, thus leading to an overall more successful therapeutic partner.
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