Knee rehabilitation using an intelligent robotic system

Akdogan E., Tacgin E., Adli M. A.

JOURNAL OF INTELLIGENT MANUFACTURING, cilt.20, sa.2, ss.195-202, 2009 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 20 Sayı: 2
  • Basım Tarihi: 2009
  • Doi Numarası: 10.1007/s10845-008-0225-y
  • Dergi Adı: JOURNAL OF INTELLIGENT MANUFACTURING
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.195-202
  • Anahtar Kelimeler: Rehabilitation robots, Intelligent control, Impedance control, IMPEDANCE CONTROL, THERAPY, MACHINE
  • Marmara Üniversitesi Adresli: Evet

Özet

There is an increasing trend in using robots for medical purposes. One specific area is the rehabilitation. There are some commercial exercise machines used for rehabilitation purposes. However, these machines have limited use because of their insufficient motion freedom. In addition, these types of machines are not actively controlled and therefore can not accommodate complicated exercises required during rehabilitation. In this study, a rule based intelligent control methodology is proposed to imitate the faculties of an experienced physiotherapist. These involve interpretation of patient reactions, storing the information received, acting according to the available data, and learning from the previous experiences. Robot manipulator is driven by a servo motor and controlled by a computer using force/torque and position sensor information. Impedance control technique is selected for the force control.