Control of a rehabilitation robot

• Main Author: Lin, Wei.
• Other Authors: Cheah Chien Chern
• Format: Final Year Project
• Language: English
• Published: 2012
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/49648
• Institution: Nanyang Technological University

The objective of this project is to design a rehabilitation robot arm system which can provide more efficient trainings for patients with stroke to reinforce the muscles of the upper limb. This helps in making the patients gain confidence and physically competent. A three degree of freedom arm supporter has been designed to give support for the upper limb. A Selective Compliance Robot Arm (SCARA) is used to guide the movement of the arm supporter to follow different trajectories. Patients are able to view their arm movement through the user interface. There are different controllers has been applied for this project to satisfy different requirements.