Control of robot assistant for rehabilitation of upper extremities.
The assisted movement in humans with paresis of upper extremities is becoming popular for neurorehabilitation. We propose a novel method for trajectory selection and assistance control. This paper presents simulation of a planar two degrees of freedom robot that assists horizontal movement of the hand. The control assumes that during the exercise the hand needs to follow healthy alike trajectories. The robot is assumed to provide minimal assistance and operate as a teacher of the movement.
School of Electrical Engineering, University of Belgrade, Bulevar kralja Aleksandra 73, 11120 Belgrade, Serbia. thekostic@etf.rs
Miloš D
MD
Kostić
Mirjana B
MB
Popović
Dejan B
DB
Popović
D000465:Algorithms; D003198:Computer Simulation; D006801:Humans; D009043:Motor Activity / Q000502:physiology; D012046:Rehabilitation / Q000379:methods*; D012371:Robotics; D013813:Therapy, Computer-Assisted; D034941:Upper Extremity / Q000503:physiopathology*