Comparison and evaluation of robotic strength rehabilitation algorithms: Isokinetic, isotonic and shared control method

Strength rehabilitation is an essential treatment for the patient who has motor control disorder. However the strength rehabilitation process is a labor intensive work therefore many people have found a solution in robotics. Many studies propose various strength rehabilitation robots and control methods. It is well known that the high muscle activation during the rehabilitation process can accelerate the progress of the recovery. However there is little quantitative study about the relationship between the control parameters and the muscle activation. This paper shows how the control parameters affect the muscle activation. We use three control methods; isokinetic, isotonic and shared control, widely used control method in rehabilitation robots. With this result, we suggest a method to adjust the exercise intensity.