DESIGN AND CONTROL OF A 2-DOF REHABILITATION ROBOT WITH A TASK DEFINED IN A VIRTUAL ENVIRONMENT.

Abstract

This research proposes a novel upper-limb rehabilitation robotic system. Instead of an exoskeleton type, the proposed robot is designed as active 2-DOF end-effector type moving in a horizontal plane, with being compact and easy to use with the harmless image. The rehabilitation robot system consists of a robot, a controller system and a virtual environment (game). The proposed rehabilitation robot system has been evaluated with 2 healthy subjects. The robot system has been evaluated in passive, active non-assist and active intent-based assistive rehabilitation type.