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Reha-maus: A novel robot for upper limb rehabilitation

: Luo, D.; Roth, M.; Wiesener, C.; Schauer, T.; Schmidt, H.; Raisch, J.

Riener, R.:
Automatisierungstechnische Verfahren für die Medizin : 9. Workshop. Tagungsband
Düsseldorf: VDI Verlag, 2010 (Fortschritt-Berichte VDI, Reihe 17: Biotechnik, Medizintechnik 279)
ISBN: 978-3-18-327917-3
ISSN: 0178-9600
Workshop Automatisierungstechnische Verfahren für die Medizin (AUTOMED) <9, 2010, Zürich>
Fraunhofer IPK ()
Arm; Rehabilitationstechnik; Robotersteuerung; Positionierungssteuerung; Kraftmessung; Kraftaufnehmer; Systembeschreibung; Kompaktbauweise; Elektroantrieb

This paper presents a novel robot-aided rehabilitation system for upper limbs. The overall concept, the robotic system, and the position control strategy are described. An initial indication of its performance is provided. A Figure shows a prospective application scenario of the Reha-Maus. The lower right arm of a patient is pivoted on the moving robotic platform. Human-device interaction forces are measured by a force sensor underneath the arm support. Arbitrary motion, i.e. planar robot translation and rotation, on the application surface is facilitated by three assembled omni-wheels. Their design allows for low-friction rolling perpendicular to the attached motor shaft. Each omni-wheel is driven by a DC motor with gear and encoder. Furthermore, separate external power electronics provide analogue current controllers for each motor. A compact, yet powerful device design is achieved by mounting the high-performance drives along the edges of an equilateral triangle. The configuration is capable of producing a pre-determined range of force (0 - 55 N) and velocity (translational 0 - 0.6 m/s, rotational 0 - 9 rad/s). The robot weighs 2.8 kg and has a diameter of 300 mm. At this stage of development, absolute position information is gathered by an infrared camera. A real time Linux-based computer interface allows for the use of advanced control algorithms that have been implemented using Scilab/Scicos and the HART toolbox.