Implementation of mechatronics interface on therapeutic robot for post-stroke rehabilitation

• Main Author: Hakim Mohamed, Nurul Haq
• Other Authors: Domenico Campolo
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2021
• Subjects: Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/150931
• Institution: Nanyang Technological University

Over the past several years, there have been many studies and works on using robotics to develop haptics channels (or force fields) that are incorporated in post-stroke therapeutic rehabilitation. Despite showing signs of effectiveness, several of the works produced have limited functions. In this study, position and velocity dependent force fields are developed and implemented in a two-dimensional, novel, planar robot known as the H-Man. Due to the advantageous cable-looped mechanical design of the H-Man robot, the study produced haptics channels that offer greater functionality and customisability. The report includes an in-detail, methodological study of the aforementioned two parameters, their effects on the force field workspace and how they can be adapted to perform various functions. The project ends off with suggestions on future developments of this foundational study.