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Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system

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Stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). | Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system Engineering Solid Mechanics 2 2014 151-162 Contents lists available at GrowingScience Engineering Solid Mechanics homepage www.GrowingScience.com esm Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system Mahdieh Babaiasla Ahmad Ghanbaria b and SMRS Noorania a School of Engineering Emerging Technologies University of Tabriz Tabriz Iran b Faculty of Mechanical Engineering University of Tabriz Tabriz Iran ARTICLE INFO ABSTRACT Article history Stroke is one of the main causes of disability. It affects millions of people worldwide. One Received January 20 2014 symptom of stroke is disabled arm function. Restoration of arm function is necessary to Received in Revised form resuming activities of daily living ADL . Along with traditional rehabilitation techniques April 10 2014 robot-aided therapy has emerged recently. The control schemes of rehabilitation robots are Accepted 7 May 2014 Available online designed for two reasons. First they are designed for passive rehabilitation in which the robot 9 May 2014 guides the patient s limb through a predefined path and second for active rehabilitation in which Keywords the patient initiates the movement and is partially assisted or resisted by the robotic device. Anthropomorphic Mechanical This paper introduces a new robot for shoulder rehabilitation. The Shoulder Rehabilitation Design System SRS has three degrees of freedom DOFs for three rotational DOFs of the shoulder Lyapunov-based controller but additional translational DOFs of the shoulder are also allowed to avoid discomfort to the Disturbance rejection patient. A new open circular mechanism is proposed for the third joint that solves the known Robot-aided rehabilitation issues for rehabilitation robots such as long wiring and discomfort associated with closed Stroke mechanisms. Lyapunov-based controller with integral action