The design and control of a therapeutic exercise robot for lower limb rehabilitation: Physiotherabot

• Published in: Mechatronics (Oxford) Vol. 21; no. 3; pp. 509 - 522
• Main Authors: Akdoğan, Erhan, Adli, Mehmet Arif
• Format: Journal Article
• Language: English
• Published: Oxford Elsevier Ltd 01.04.2011; Elsevier
• Subjects: Applied sciences; Biological and medical sciences; Computer science; control theory; systems; Computer systems and distributed systems. User interface; Control theory. Systems; Design; Drives; Exact sciences and technology; Human–Machine Interface; Impedance control; Linkage mechanisms, cams; Mechanical engineering. Machine design; Medical sciences; Physiotherapy; Radiotherapy. Instrumental treatment. Physiotherapy. Reeducation. Rehabilitation, orthophony, crenotherapy. Diet therapy and various other treatments (general aspects); Rehabilitation robots; Robotics; Software; Design; Rehabilitation robots; Impedance control; Physiotherapy; Human–Machine Interface; Capability index; Healthy subject; Man machine system; Position control; Mechanical impedance; Expert system; Lower limb; Knowledge base; Experimental study; Physical rehabilitation; Robotics; Manipulator; Human-Machine Interface; Reeducation; User interface; Body movement; Rehabilitation; System with three degrees of freedom; Force control

This study explains the design and control of three degrees of freedom therapeutic exercise robot (Physiotherabot) for the lower limbs of a patient who needs rehabilitation after a spinal cord injury (SCI), stroke, muscle disorder, or a surgical operation. In order to control this robot, a “Human–Ma...