Tele-operated Rehabilitation Robot for Forearm Pronation and Supination in Home-Based Therapy
DOI:
https://doi.org/10.15282/mekatronika.v6i1.10338Keywords:
Rehabilitation robot, Tele-operation, Home-based rehabilitation, Master-slave system, PID controllerAbstract
Patients suffering from neurological injuries undergo clinical rehabilitation to regain functionality of the affected limb. However, frequent visits to the therapist tend to be tedious and time consuming. Tele-operated rehabilitation has the advantage of being accessible to patients from the comfort of their homes. This paper presents a tele-operated master-slave rehabilitation robot for forearm pronation and supination for home-based rehabilitation. The prototype of the robot has been developed to provide the rotational motion at the forearm. Arduino is used as the microcontroller board and DC (direct current) motor is utilized to actuate the system. Potentiometers are incorporated at both sides of the robot to provide angular displacement readings. The position of the master sensor is fed to the slave side and this value is then compared to the current displacement of the slave robot and their difference is adjusted. The communication between the master and slave is carried out using Arduino Ethernet shield over the internet. The mathematical model of the robot has been approximated by the dynamic equation of a flywheel. A Proportional Integral Derivative (PID) controller has been implemented on the system to improve its performance. Hardware experimental tests has been conducted and the results verify that the slave robot has successfully followed the master robot’s trajectory as required in the design objective with a time delay of 0.1 s. The resulting percentage overshoot is obtained as 17% and the steady state error is 4%.
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