Thesis Type: Postgraduate
Institution Of The Thesis: Cukurova University, Fen Bilimleri Enstitüsü, Elektrik-Elektronik Mühendisliği, Turkey
Approval Date: 2015
Thesis Language: English
Student: Erkan Ödemiş
Supervisor: Cabbar Veysel Baysal
Abstract:
Robotic upper extremity ortheses have been used for rehabilitation of
patients with neuromuscular disorders since last two decades. The
success of robotic arm ortheses in therapies is demonstrated by numerous
clinical researches.
In this thesis, the design of a multi-mode model based controller and
two DoF robotic arm orthesis in connection to a human arm mechanical
model is presented. The designed system is implemented in simulation for
compliant operation of robotic arm orthesis and human arm model. The
controller is tested for multi-mode operation and its performance is
evaluated for "Assistive" and "Resistive" rehabilitation modes. The
tests yielded encouraging results for future works.