PATIENT ORIENTED CONTROL SYSTEM OF A MODULAR PARALLEL ROBOT FOR ELBOW REHABILITATION

Alin BURZ, Paul TUCAN, Nicoleta TOHANEAN, Bogdan GHERMAN, Calin VAIDA, Adrian PISLA, Tiberiu ANTAL, Giuseppe CARBONE, Cristian ABRUDAN, Doina PISLA

Abstract


The paper focuses on the development of a control system for a parallel robot for medical rehabilitation of the elbow based on various Human Robot Interaction (HRI) approaches and torque monitoring capabilities for feedback from the robotic structure. The control system employs a set of predefined tasks specific to the medical rehabilitation task. To validate the proposed control system, several in-lab experimental tests are performed on healthy subjects.


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