Analytical Model of Modular Upper Limb Rehabilitation

TL;DR

This paper proposes a modular upper limb rehabilitation robot with customizable modules for wrist, elbow, and shoulder, including kinematic and dynamic modeling, to improve rehabilitation flexibility and effectiveness.

Contribution

It introduces a novel modular robot design specifically for upper limb rehabilitation, including detailed modeling and analysis for force and torque control strategies.

Findings

Designed and implemented modular upper limb rehabilitation components.

Evaluated module performance through simulation and testing.

Provided kinematic and dynamic models for human-robot interaction.

Abstract

Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a modular robot with different morphologies. The advantage and superiority of designing an example of a robotic module for upper body rehabilitation is the ability to reset the modular robot system. In this research, a number of modules will be designed and implemented according to the needs of one-hand rehabilitation with different degrees of freedom. The design modules' performance and efficiency will be evaluated by simulating, making samples, and testing them. This article's research includes presenting a modular upper body rehabilitation robot in the wrist, elbow, and shoulder areas, as well as providing a suitable kinematic and dynamic model of the upper body rehabilitation robot to determine human-robot interaction forces and movement. The research also involves analyzing the mathematical model of the upper body rehabilitation robot to identify advanced control strategies that rely on force control and torque control. After reviewing the articles and research of others, we concluded that no one has yet worked on the design of a prototype robotic module for upper body rehabilitation in the specified order. In our pioneering research, we intend to address this important matter.