Development of a therapeutic exercise robot for wrist and forearm rehabilitation

Author

Atlihan, Murat ; Akdogan, Erhan ; Arslan, M. Selcuk

Author_Institution

Dept. of Mechatron. Eng., Yildiz Tech. Univ., Istanbul, Turkey

fYear

2014

fDate

2-5 Sept. 2014

Firstpage

52

Lastpage

57

Abstract

In this study, design steps and system concept of a 3 DOF upper limb rehabilitation robot which is called Physiotherabot/WF are introduced. Functional requirements of design, corresponding design parameters and system concept of the robot were examined in detail. Physiotherabot/WF can perform pronation-supination movement for forearm, abduction-adduction and flexion-extension movements for wrist. It can perform passive, active assisted, isotonic, isometric and isokinetic exercises. In order to control the robot, Hybrid Impedance Control (HIC) method is used. The HIC performance is shown by simulation results.

Keywords

medical robotics; patient rehabilitation; HIC method; Physiotherabot/WF robot; abduction-adduction movement; active assisted exercise; flexion-extension movement; forearm rehabilitation; hybrid impedance control; isokinetic exercise; isometric exercise; isotonic exercise; passive exercise; pronation-supination movement; therapeutic exercise robot; upper limb rehabilitation robot; wrist rehabilitation; Force; Impedance; Manipulators; Robot kinematics; Robot sensing systems; Wrist; biomechatronics design; hybrid impedance control; rehabilitation robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On

Conference_Location

Miedzyzdroje

Print_ISBN

978-1-4799-5082-9

Type

conf

DOI

10.1109/MMAR.2014.6957324

Filename

6957324