Development of a Robot for Neuro-Rehabilitation of Elbow

• Main Authors: Chyou-Wang Chen, 陳秋旺
• Other Authors: Ming-Shaung Ju
• Format: Others
• Language: zh-TW
• Published: 2000
• Online Access: http://ndltd.ncl.edu.tw/handle/71394653757955951099

碩士 === 國立成功大學 === 機械工程學系 === 88 === The physical therapists use various facilitation patterns by hands or instruments at rehabilitation of the stroke patients. The patterns include guiding movements of patients'' limbs or applying resistant force or assistant force when active movements are performed. By qualitative assessments and observations, they can assess progress of rehabilitation. The goal of this study is to develop a robot for rehabilitation of patients with neuro-muscular disorders by performing various facilitation patterns. The sensors of robot can measure biomechanical variables such as joint displacement and reactive forces. These quantitative data is used for assessment of rehabilitation. The robot is designed for 2-dimensional motion in a planar workspace. It is designed for application in the flexion and extension of elbow joints. For guiding limb movement, the robot uses a PID controller and compensation of loading to realize position control. For applying resistant or assistant forces, a hybrid position/force controller is used to constrain direction of voluntary movement and controlled resistant or assistant force along the moving direction. During testing, the encoders and load cell record the kinematical position and contact force between robot and patient''s wrist. Off-line analyses of data can be used to assess progress of neural rehabilitation quantitatively. A robotic system for neural rehabilitation has been built by integrating a five-bar mechanism, actuators, controllers, system software and man-machine interface. For a pilot study, the system has been used to test normal subjects and to guide their wrist along a straight line. The subjects can move voluntarily at low velocity along straight line and the robot applies a constant resistant force or assistant force on direction of movement. The system can successfully record the position, velocity and force data in each mode of facilitation. From the results, one might conclude that the robot is applicable for rehabilitation of stroke patients. The robot can imitate a physical therapist to guide subject or apply adequate resistant or assistant force on subjects along a straight line.