Design of a Control System for Rehabilitation Robotic Arm Orthesis

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Çukurova Üniversitesi, Fen Bilimleri Enstitüsü, Elektrik-Elektronik Mühendisliği, Türkiye

Tezin Onay Tarihi: 2015

Tezin Dili: İngilizce

Öğrenci: Erkan Ödemiş

Danışman: Cabbar Veysel Baysal

Özet:

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.