Development of a dynamically controlled robot for hand-wrist rehabilitation

In this thesis, an 18-degree-of-freedom dynamically controlled robot has been developed for hand-wrist rehabilitation. Although there are many studies in the literature on modeling, control and production of hand-wrist rehabilitation robots, they have generally focused on low-degree-of-freedom systems and traditional control techniques. The robot developed in this study is portable, wearable and adaptable to the person, which increases the quality of life of the person, can be used in clinical and home environments, and supports treatment. The robot is intended to perform passive, isometric and active exercise movements. The mathematical model of the robot is obtained by the simplified Lagrange Method. The system is simulated in the MATLAB/Simulink environment, and HSMC and HPID methods are tried for the control of the joints. These control techniques are optimized with Particle Swarm Optimization (PSO) and Differential Evolution Optimization (DGO) under the effect of disturbance. The dynamically controlled robot, whose prototype was produced, was tested on a healthy user for passive, isometric and active exercises. The position and torque control of the rehabilitation robot was performed. The results of the robot simulation studies and the experimental results were presented comparatively. As a result, it was seen that the developed rehabilitation robot successfully performed the planned exercises.