위치 피드백을 사용하는 1자유도 재활 로봇의 원격 조작 제어

This paper describes the mechanical and control design of a robotic device for providing therapeutic assistance to arm movement following stroke. This is a new robot for arm therapy applicable to the training of activities of daily living in homes and clinics. This instrument has one degrees of freedom, and is equipped with only position sensors. And the analysis and design of master-slave tele-operation system a discussed. The Proposed control scheme is introduced to are prototype master-slave system and the experimental results show the validity of the proposed scheme. Repetitive movement can improve movement performance in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation of movements. The new robot, the mechanical structure, the control circuit, the sensors and actuators and some safety aspects.