Design and Application of the Rehabilitation Robot for Upper Limb Physiotherapy and Training
Date Issued
2009
Date
2009
Author(s)
Chou, Yen-Yu
Abstract
The goal of this study is to design a robot system for assisting the rehabilitation of patients so that they can eventually perform various activities of daily living. The robot system which parallels our human upper limb possesses 9 degrees of freedom (DOFs) in total: six at the shoulder joint, one at the elbow joint, and two at the wrist joint. Besides, there are two adjustable segments to fit different arm lengths of different patients. Through the study, it can be seen that the hereby obtained redundant manipulator with high DOFs has a most salient advantage, which is able to provide training to patients closer to the natural human motions. However, it is difficult to determine the desirable posture of a redundant manipulator in such system first of all, and it is more challenging to determine how to attain that particular posture next. In this thesis, we resolve the above problems by mapping the kinematics of a human arm to that of the manipulator so that it can avoid going through the ill-posed configurations while searching for the desired solutions, and then reach the desired rehabilitation motion as precisely as possible. The position control involves position and velocity feedback of the end-effectors, which is implemented with the sliding mode controller to perform the trajectory tracking. In order to schedule the rehabilitation motion easily, it has a 3D simulator for user. The experiment results show that the robot can successfully guide the upper limb of the patient subject in desired movements under predefined motion setting.
Subjects
Rehabilitation robot
Rehabilitation
Human arm
Upper limb
Physiotherapy and Training
Type
thesis
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