Start Date
14-5-2021 9:30 AM
End Date
14-5-2021 9:50 AM
Document Type
Full Paper
Keywords
Upper extremity rehabilitation, Interaction control, Game rehabilitation, Rehabilitation robotics.
Description
Throughout human life, neurological disorders may occur in body parts with accidents or other biological factors by destroying nerve commands. Stroke is one of the main causes among these disorders. Increase in stroke cases causes to increase requirement in continuous and efficient repetitive physiotherapy exercises that have great benefits in restoring functional losses by retraining motor movements. As a result, demand in treatments increases in parallel and it needs to be fulfilled in a simplest and fastest way. Given these facts, current study focuses on a simple low cost single degree of freedom tip follower rehabilitation system that focuses on forearm flexion/extension including supportive shoulder movements and that is implemented to a regular motion and interaction control structures with applications. With its simple mechanical structure, system provides a simple motion control for initial stages of treatment which is the patient passive mode, then follows an interaction control strategy with adjustable assistance and resistance, which is the patient active mode. Throughout the interaction control study, admittance control with variable coefficients have been carried out on the system for the patient active mode. At the end of the study, control algorithm variables created via case studies were implemented to the robotic rehabilitation system and functionality of the proposed approach was tested within designed game.
DOI
https://doi.org/10.5038/ZRKZ1847
On the Design of a Single Degree of Freedom Upper Arm Rehabilitation Robot with Its Gamification Methodology
Throughout human life, neurological disorders may occur in body parts with accidents or other biological factors by destroying nerve commands. Stroke is one of the main causes among these disorders. Increase in stroke cases causes to increase requirement in continuous and efficient repetitive physiotherapy exercises that have great benefits in restoring functional losses by retraining motor movements. As a result, demand in treatments increases in parallel and it needs to be fulfilled in a simplest and fastest way. Given these facts, current study focuses on a simple low cost single degree of freedom tip follower rehabilitation system that focuses on forearm flexion/extension including supportive shoulder movements and that is implemented to a regular motion and interaction control structures with applications. With its simple mechanical structure, system provides a simple motion control for initial stages of treatment which is the patient passive mode, then follows an interaction control strategy with adjustable assistance and resistance, which is the patient active mode. Throughout the interaction control study, admittance control with variable coefficients have been carried out on the system for the patient active mode. At the end of the study, control algorithm variables created via case studies were implemented to the robotic rehabilitation system and functionality of the proposed approach was tested within designed game.