Design of a Control System for Rehabilitation Robotic Arm Orthesis

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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.