1-DOF assisted flexion-extension movement robotic rehabilitation system development with trajectory control

Abstract

Robotic rehabilitation has been developed in many researches as a supportive method in physical rehabilitation to help reduce the effect of paralysis for patients with motoric impairment. This robotic rehabilitation is relatively new for doctors, nurses, and therapists especially in Low/Middle Income Country (LMIC). The development’s objective of this rehabilitation system have to match the needs in LMIC, which can be pretty difficult because of the constraints exist in the country. As we are developing this technology in LMIC, we tried to build a simple rehabilitation robot which able to meet the requirement from the patients with paralysis who need assistance in the rehabilitation process. This paper discusses about 1-DOF assisted-movement-rehabilitation-robot development for flexion extension arm movement using trajectory PI control, with the angle of movement is ranged between 0° – 120°. The PI controller parameter is calculated by using optimal control method and then it was tuned to the best value by considering the critical overshoot response.Robotic rehabilitation has been developed in many researches as a supportive method in physical rehabilitation to help reduce the effect of paralysis for patients with motoric impairment. This robotic rehabilitation is relatively new for doctors, nurses, and therapists especially in Low/Middle Income Country (LMIC). The development’s objective of this rehabilitation system have to match the needs in LMIC, which can be pretty difficult because of the constraints exist in the country. As we are developing this technology in LMIC, we tried to build a simple rehabilitation robot which able to meet the requirement from the patients with paralysis who need assistance in the rehabilitation process. This paper discusses about 1-DOF assisted-movement-rehabilitation-robot development for flexion extension arm movement using trajectory PI control, with the angle of movement is ranged between 0° – 120°. The PI controller parameter is calculated by using optimal control method and then it was tuned to the best value b...