Design and Evaluation of a Multi-Mode Robotic Arm Orthosis using Musculoskeletal Simulation

Öz

Robotic upper extremity orthoses have been used in rehabilitation for therapy of neuromuscular disorders and successful implementations are demonstrated by numerous clinical results. Majority of researchers focused on orthotic devices enabling basic therapy mode operations. However, there is still need for new orthotic designs which facilitates therapy modes and assistance for daily life activities in coherence. In this work, design of a multi-mode two DoF robotic arm orthosis is introduced. The designed robotic orthosis is implemented in simulation and tested with a human arm musculoskeletal model, for compliant operation. It uses model based computed torque controller and is tested for multi-mode operation. The performance is evaluated for compliant operation of “Assistive” and “Resistive” rehabilitation modes. Performance tests yielded encouraging results for future developments. 

Anahtar Kelimeler

• Robotic arm orthosis,Model-based controller,Musculoskeletal modelling,Simulation

Çok-Düzenli Robotik Kol Ortezinin Kas-iskelet Modeli Kullanılarak Tasarımı ve Performans Değerlendirmesi

Öz

Robotik kol ortezleri, motor-kas becerilerini kaybetmiş hastaların tedavisinde kullanılan ve başarıları sayısız klinik çalışmayla kanıtlanmış cihazlardır. Bu alandaki araştırmaların çoğu temel terapi düzeni operasyonlarını sağlayan ortotik cihazlara odaklanmıştır. Bununla birlikte terapi düzenlerini ve günlük aktiviteler için desteği uyumla gerçekleştirebilecek yeni ortotik cihaz tasarımlarına hala ihtiyaç vardır. Bu çalışmada çok düzenli, iki serbestlik derecesine sahip bir ortez tasarımı yapılmıştır. Tasarlanan ortez uyumlu çalışma becerisi açısından bir kas-iskelet modeli üzerinde benzetim ortamında denenmiştir. Ortez, model tabanlı hesaplamalı tork kontrolcü kullanmaktadır ve çok düzenli çalışma için test edilmiştir. Ortezin performansı “Yardımcı” ve “Dirençli” rehabilitasyon düzenlerinin uyumlu çalışması açısından değerlendirilmiştir. Performans testleri ilerde yapılacak geliştirmeler için cesaret verici sonuçlar vermektedir. 

Anahtar Kelimeler

• Robotik kol ortezi,Model-tabanlı kontrolcü,Kas-iskelet modeli,Benzetim

Kaynakça

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