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Development of an upper Limb master-slave robot for bimanual rehabilitation

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dc.contributor.author Harischandra, PAD
dc.contributor.author Abeykoon, AMHS
dc.date.accessioned 2018-08-21T00:37:46Z
dc.date.available 2018-08-21T00:37:46Z
dc.date.issued 2017
dc.identifier.uri http://dl.lib.mrt.ac.lk/handle/123/13410
dc.description.abstract Most activities in daily life involve the use of both hands. Post-stroke patients lose inter-limb coordination and require intensive rehabilitation therapy for a faster recovery. Robot based rehabilitation is preferred to traditional rehabilitation methods due to precise repeatability and the accurate measurements it provides. Bimanual rehabilitation robots can help the patient to keep the position symmetry. Most studies in rehabilitation robots have overlooked the necessity of accurate resistance training. Conventional rehabilitation methods cannot ensure position synchronization during rehabilitation. In order to realize resistance training with maximum efficiency, the resistance should be varied with a reference to a strength profile of a healthy person. This paper presents a master slave robot system designed for bimanual rehabilitation training. Disturbance OBservers (DOB) are implemented to make the system robust. Accurate force sensing is achieved using the Reaction Torque OBserver (RTOB). The paper also presents a method for seamless transfer between the resistance and assistance modes. The proposed methods were validated by experiments. en_US
dc.subject Rehabilitation; Medical Robotics; Torque Control; Disturbance Observer; Reaction Torque Observer en_US
dc.title Development of an upper Limb master-slave robot for bimanual rehabilitation en_US
dc.type Conference-Abstract en_US
dc.identifier.year 2017 en_US
dc.identifier.conference Moratuwa Engineering Research Conference - MERCon 2017 en_US
dc.identifier.place Moratuwa, Sri Lanka en_US
dc.identifier.email diluka.harischandra@gmail.com en_US
dc.identifier.email harsha@ait.asia en_US


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