Design and control of a diagnosis and treatment aimed robotic platform for wrist and forearm rehabilitation: DIAGNOBOT

Therapeutic exercises play an important role in physical therapy and rehabilitation. The use of robots has been increasing day by day in the practice of therapeutic exercises. This study aims to design and control a novel robotic platform named DIAGNOBOT for diagnosis and treatment (therapeutic exer...

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Bibliographic Details
Published in:Advances in mechanical engineering 2018-01, Vol.10 (1)
Main Authors: Aktan, Mehmet Emin, Akdoğan, Erhan
Format: Article
Language:English
Subjects:
Authorship
Design
Diagnosis
Elbow
Force measurement
Forearm
Grasping (robotics)
Grasping force
Impedance
Isometric exercise
Medical diagnosis
Methods
Modular structures
Patients
Proportional integral derivative
Rehabilitation
Robot arms
Robotics
Robots
Sensors
Stroke
Studies
Wrist
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Summary:Therapeutic exercises play an important role in physical therapy and rehabilitation. The use of robots has been increasing day by day in the practice of therapeutic exercises. This study aims to design and control a novel robotic platform named DIAGNOBOT for diagnosis and treatment (therapeutic exercise). It has three 1-degree-of-freedom robotic manipulators and a single grasping force measurement unit. It is able to perform flexion–extension and ulnar–radial deviation movements for the wrist and pronation–supination movement for the forearm. The platform has a modular and compact structure and is capable of treating two patients concurrently. In order to control the DIAGNOBOT, an impedance control–based controller was developed for force control, which was required for the exercises, as well as a proportional–integral–derivative controller for position control. To model the resistive exercise, an angle-dependent impedance control method different from traditional methods has been proposed. Experiments were made on five healthy subjects and it has been demonstrated that the proposed robotic platform and its controller can perform therapeutic exercises.
ISSN:1687-8132
1687-8140
DOI:10.1177/1687814017749705