Development of a Cooperative Robot System to Aid Stroke Rehabilitation

• Main Author: Culmer, Peter Robert
• Published: University of Leeds 2007
• Subjects: 612
• Online Access: http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.486310

This thesis details the development of a dual robotic system for upper limb rehabilitation after stroke. The literature shows that stroke is major cause of upper limb impairment in the UK. Rehabilitation is used to affect long term recovery of upper limb function. However, health services have limited resources and struggle to provide sufficient contact time for effective rehabilitation. Robotic rehabilitation technologies offer an opportunity to augment existing rehabilitation practice and improve the treatment recieved by patients. The motivation for this research stems from the need for a robotic rehabilitation system 'that can fully support and assist the upper limb without restricting movement. A prototype single robot rehabilitation system was considered. Testing through simulation and physical models revealed a number of limitations. A dual robot system was developed from the single robot system to address its deficincies. A novel cooperative admittance control scheme was developed for the dual robot system. When compared to the single robot system the dual robot system showed a number of distinct advantages; the' ability to actively support the upper limb, coordination of natural movement patterns, the capacity to target assistance to individual upper limb joints. Preliminary trials with stroke subjects showed that the dual robot system did not impair normal movement patterns and, using a basic control mode, could improve reach movements.