Title :
Design and control of an exoskeleton device for active wrist rehabilitation
Author :
Bae, Ju-hwan ; Moon, Inhyuk
Author_Institution :
Dept. of Mechatron. Eng., Dong-eui Univ., Pusan, South Korea
Abstract :
Active exercise is one of effective therapy in rehabilitation. In this paper an exoskeleton device for active wrist rehabilitation is proposed. A force model for the wrist mechanism of DULEX-II [7] is presented, and its control system for active exercise is designed based on the force model. In experiments the performance of the force control system was verified. From the results we show a possibility of the exoskeleton device in the active wrist rehabilitation.
Keywords :
biomechanics; bone; control system synthesis; force control; manipulator kinematics; medical robotics; patient rehabilitation; patient treatment; DULEX-II; active exercise; active wrist rehabilitation; exoskeleton device control; exoskeleton device design; force control system performance; force model; wrist mechanism; Exoskeletons; Force; Force control; Force measurement; Mathematical model; Robots; Wrist; active exercise; force control; rehabilitation; wrist mechanism;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8
