Control system design of an active assistive exoskeletal robot for rehabilitation of elbow and wrist

Esmaeil Mohammadi, Hassan Zohoor, Seyedmohsen Khadem

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Physical disabilities in elbow and wrist are very common in elderly people or people who are suffering from an injury or a stroke. Therefore, developing an assistive wearable robot seems essential. Herein this paper a simple novel control algorithm is proposed and implemented for controlling the position of a wearable assistive robot. The robot is used for rehabilitation of wrist and elbow and has 3 Degrees of Freedom (DOF); two active DOF for assisting flexion/extension of elbow and wrist, and a passive one in order to have unconstrained supination /pronation of forearm. The proposed control system incorporates force signals and trigger commands issued by the patient to track patient's desired trajectory. Furthermore with the intention of evaluating performance of the robot and the control scheme, some preliminary experiments are conducted using the prototype of the designed wearable robot on a human subject with spinal cord injury (SCI). Experimental results showed that the proposed assistive robot meets its design goals and it is successful in tracking the patients' desired trajectory without harming the patient.
Original languageEnglish
Title of host publicationProceedings of the 2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)
Place of PublicationTehran, Iran
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages834-839
Number of pages6
ISBN (Electronic)978-1-4799-6743-8
DOIs
Publication statusPublished - 18 Dec 2014
EventSecond RSI/ISM International Conference on Robotics and Mechatronics - Tehran, Iran, Islamic Republic of
Duration: 15 Oct 201417 Oct 2014
http://icrom.ir/icrom-history/icrom-2014/

Conference

ConferenceSecond RSI/ISM International Conference on Robotics and Mechatronics
Abbreviated titleICRoM 2014
Country/TerritoryIran, Islamic Republic of
CityTehran
Period15/10/1417/10/14
Internet address

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