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Rehabilitation Device Supporting Active and Passive Upper Limb Exercises


Affiliations
1 Department of Automatic Control and Robotics, Bialystok University of Technology, Wiejskastr, 45C, 15-351 Bialystok, Poland
2 Department of Machines and Vehicles Design, Gdansk University of Technology, G. Narutowicza str, 11/12, 80-233 Gdansk, Poland
3 Department of Rehabilitation Medicine, Medical University of Gdansk, Al. Zwycięstwa 30, 80-219 Gdansk, Poland
 

This article presents a mechatronic solution for rehabilitation devices supporting active and passive exercises in persons with motor dysfunctions of the upper limbs in the area of the elbow and shoulder joints. A planar positioner integrated with original software and a control system, served as the basis for creating the present solution. Bellman’s programming method was applied to optimize the motion trajectory of the planar positioner along with the upper limb undergoing rehabilitation. The design of the planar coordinate positioner and the components of the system for supporting a therapy conducted by a rehabilitation specialist are presented.

Keywords

Mechatronics, Positioner, Rehabilitation, Upper Limb.
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  • Rehabilitation Device Supporting Active and Passive Upper Limb Exercises

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Authors

Roman Trochimczuk
Department of Automatic Control and Robotics, Bialystok University of Technology, Wiejskastr, 45C, 15-351 Bialystok, Poland
Tomasz Huscio
Department of Automatic Control and Robotics, Bialystok University of Technology, Wiejskastr, 45C, 15-351 Bialystok, Poland
Szymon Grymek
Department of Machines and Vehicles Design, Gdansk University of Technology, G. Narutowicza str, 11/12, 80-233 Gdansk, Poland
Dominika Szalewska
Department of Rehabilitation Medicine, Medical University of Gdansk, Al. Zwycięstwa 30, 80-219 Gdansk, Poland

Abstract


This article presents a mechatronic solution for rehabilitation devices supporting active and passive exercises in persons with motor dysfunctions of the upper limbs in the area of the elbow and shoulder joints. A planar positioner integrated with original software and a control system, served as the basis for creating the present solution. Bellman’s programming method was applied to optimize the motion trajectory of the planar positioner along with the upper limb undergoing rehabilitation. The design of the planar coordinate positioner and the components of the system for supporting a therapy conducted by a rehabilitation specialist are presented.

Keywords


Mechatronics, Positioner, Rehabilitation, Upper Limb.

References





DOI: https://doi.org/10.18520/cs%2Fv115%2Fi5%2F868-873