ASSISTON-MOBILE: A series elastic holonomic mobile platform for upper extremity rehabilitation

We present the design and control of series elastic holonomic mobile platform, ASSISTON-MOBILE, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device for home use. ASSISTON-MOBILE consists of four actuated Mecanum wheels and a compliant, low-cost, multi degree-of-freedom Series Elastic Element as its force sensing unit. Thanks to its series elastic actuation, ASSISTON-MOBILE is highly back-driveable and can provide assistance/resistance to patients, while performing omni-directional movements on plane. Feasibility tests and preliminary usability studies with the robot are presented. The device holds promise in improving accuracy and effectiveness of repetitive movement therapies completed at home, while also providing quantitative measures of patient progress.