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Hybrid Position/Force Control of a 3-D Rehabilitation Robot System for Upper Extremities  

Lee, Soo-Han (School of Mechanical and Automotive Engineering, Ulsan Univ.)
Shin, Kyu-Hyeon (Department of Mechanical and Automotive Engineering, Graduate School, Ulsan Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.28, no.5, 2011 , pp. 599-605 More about this Journal
Abstract
A 3-D rehabilitation robot system is developed. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. In this paper, a hybrid position/force controller is used for controlling positions and forces simultaneously The controller is tuned according to the robot posture. The active motion modes for rehabilitation program consist of active-resisted motion mode and active-free motion mode. The results of the experiments show that the proposed motion modes provide the intended forces effectively.
Keywords
Rehabilitation Robot System; Upper Extremities; Hybrid Position/Force Controller; Active Motion Mode;
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