Design of an elbow rehabilitation robot based on force measurement and its force control

被引：4

作者：

Kim, Han-Sol ^{[1
]}

Kim, Gab-Soon ^{[1
]}

机构：

[1] Department of Control and Instrumentation Engineering, Gyeongsang National University

来源：

Journal of Institute of Control, Robotics and Systems | 2015年 / 21卷 / 05期

关键词：

Elbow rehabilitation robot & Two-axis force sensor; Force control; Interference error; Rated output; Rehabilitation robot;

D O I：

10.5302/J.ICROS.2015.15.9019

中图分类号：

学科分类号：

摘要：

This paper describes the design of an elbow rehabilitation robot based on force measurement that enables a severe stroke patient confined to their bed to receive elbow rehabilitation exercises. The developed elbow rehabilitation robot was providewitha two-axis force/torque sensor which can detect force Fz and torque Tz, thereby allowing it to measure therotational force (Tz) exerted on the elbow and the signal force Fz which can be used as a safety device. The robot was designed and manufactured for severe stroke patients confined to bed, and the robot program was manufactured to perform flexibility elbow rehabilitation exercises. Asa result of the characteristics test of the developed rehabilitation robot, the device was safely operated while the elbow rehabilitation exercises were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients. © ICROS 2015.

引用

页码：413 / 420

页数：7

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