Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
CABLE-DRIVEN ROBOTS FOR CIRCULAR TRAJECTORY EXERCISES IN REHABILITATION
Submission Author:
Thiago Alves , MG
Co-Authors:
Thiago Alves, Rogério Sales Gonçalves, Giuseppe Carbone
Presenter: Thiago Alves
doi://10.26678/ABCM.COBEM2019.COB2019-0903
Abstract
Motor functions of stroke patients are frequently related and evaluated using circle drawing/tracing tasks as studies showed that stroke patients drawing a circle produce elliptical shapes instead of round. In this way, this paper presents the design of three cable-driven robots that can be used in circular trajectory rehabilitation of upper limb. First, a planar circular trajectory and the mathematical model to reach this desired trajectory and to maintain cables in tension are presented. After, a serious game for the circular trajectory to stroke rehabilitation is described. The experimental results show a satisfactory behavior reproducing the circular curve while is expected to produce a comfortable motion to the patient during the rehabilitation therapies. The next step is to implement a circular trajectory with the cable-driven robots in the rehabilitation of stroke patients.
Keywords
Robotics, Cable-driven, circular trajectory, Rehabilitation, Stroke
