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Published in:
2016 | OriginalPaper | Chapter
Design and Development of a Pneumatic Robot for Neurorehabilitation Therapies
Authors : Jorge A. Díez, Francisco J. Badesa, Luis D. Lledó, José M. Sabater, Nicolás García-Aracil, Isabel Beltrán, Ángela Bernabeu
Published in: Robot 2015: Second Iberian Robotics Conference
Publisher: Springer International Publishing
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This paper presents a new robotic system for upper limb rehabilitation. It is designed to assist the upper limb in therapies for both sitting and supine position, helping patients to carry out the required movements when they could not perform them. In the first part of the paper, the mechanical design and the development of the first prototype is exposed in detail. In the second part, new control strategy that modify the behavior of the rehabilitation robot according to different potential and force fields has been presented. Then, some experimental results of the performance of the implemented control with healthy subjects are reported.