A Low-Cost and Lightweight Alternative to Rehabilitation Robots: Omnidirectional Interactive Mobile Robot for Arm Rehabilitation
Küçük Resim Yok
Tarih
2018
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Springer Heidelberg
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Robotic rehabilitation is a growing field. Robots facilitate repetitive therapies, which have positive effects on the rehabilitation of patients who lack arm control because of central nervous system lesions. However, the use of such rehabilitation robots is rare due to high costs and low acceptance among patients. Therefore, this study is focused on the development and control of a novel low-cost omnidirectional interactive mobile robotic platform with force feedback to assist and guide a patient's hand during therapy. The primary goals for such a mobile robot are to minimize its weight and dimensions, which are significant factors in patient acceptance. Position-based stiffness control was employed with a proportional derivative controller to control the position of the robot and to assist the patient during motion. A user interface with given tasks was built to manage tasks, obtain test results and set control variables. Test results showed that the developed experimental mobile robot successfully assisted and guided the user during the test period.
Açıklama
Anahtar Kelimeler
Omnidirectional, Mobile Robot, Arm Rehabilitation
Kaynak
Arabian Journal For Science And Engineering
WoS Q Değeri
Q3
Scopus Q Değeri
Q1
Cilt
43
Sayı
3
