Trajectory planning and implementation for robot-assisted rehabilitation

This study presents a methodology that describes how to adapt a serial manipulator to rehabilitation with a passive exoskeleton having no actuators. The system combines the end-effector- and exoskeleton-based systems. Thus, the passive exoskeleton designed for the wrist and forearm is attached to the end-effector of the manipulator, which provides motion for the rehabilitation process. Denso robot is used to control the motion of the exoskeleton during the rehabilitation process. The desired moving capabilities of the exoskeleton are Flexion–Extension (FE) and Adduction–Abduction (AA) motions for the wrist and Pronation–Supination (PS) motions for the forearm. Kinematic feedback of the experiments is performed by using a wireless motion tracker assembled on the exoskeleton. The results proved that motion transmission from robot to exoskeleton is satisfactorily achieved. The forward and inverse kinematic analyses of 6 Degrees of Freedom (DOF) serial robot manipulator (Denso VP- 6242G) with the closed-form solution are performed in this thesis. Off-line models are offered. Robotic Toolbox combined with GUI Development Environment in Matlab® is used for the forward kinematics solution. A Matlab® Simulink model with Simmechanics® blocks is used in the inverse kinematic analysis. Visualization is enriched by 3D Solidworks® models of the robot parts.