文摘
The control system design for rehabilitation robotics requires certain special considerations: interactive nature with highly adaptive neural muscular system of a human user, ability to accommodate spastic and slow responses from patients with neurological disorders, and less stringent accuracy and precision specifications. In developing a control scheme for the Robotic Assisted Upper Extremity Repetitive Therapy (RUPERTTM), we reviewed and implemented an interactive and adaptive control structure that satisfies the special consideration and also takes advantage of the less stringent performance specifications. The RUPERTTM is developed to provide a low cost, safe, easy-to-use robotic-device to assist the patient and therapist to achieve more systematic therapy at home or in the clinic. Because the device is wearable and lightweight, it can be worn standing or sitting or even walking around, providing therapy tasks that better mimic activities of daily living.
