Design and implementation of a robot-assisted rehabilitation system, RehabRoby

In recent years, robot-assisted rehabilitation systems have become an active research area to quantitatively monitor and adapt to patient progress, and to ensure consistency during the rehabilitation. In this thesis, an exoskeleton type robot-assisted rehabilitation system called RehabRoby is developed for upper extremity rehabilitation purposes. A control architecture, which contains a high-level controller and a low-level controller, is designed for RehabRoby to complete the rehabilitation task in a desired and safe manner. A hybrid system modeling technique is used for high-level controller. An admittance control with inner robust position control loop is used for the low-level control of RehabRoby. Real-time experiments are performed with healthy subjects to evaluate control architecture of the robot-assisted rehabilitation system RehabRoby. Furthermore, usability of RehabRoby has been evaluated during the execution of rehabilitation tasks.