Journal of Bionic Engineering ›› 2021, Vol. 18 ›› Issue (4): 857-871.doi: 10.1007/s42235-021-0066-3
Mechatronic Design of a Robot for Upper Limb Rehabilitation at Home
Elio Matteo Curcio, Giuseppe Carbone#br#
- Department of Mechanical, Energy, and Management Engineering, University of Calabria Via Bucci, Cubo 46C, 87036 Rende, Italy
Mechatronic Design of a Robot for Upper Limb Rehabilitation at Home
Elio Matteo Curcio, Giuseppe Carbone#br#
- Department of Mechanical, Energy, and Management Engineering, University of Calabria Via Bucci, Cubo 46C, 87036 Rende, Italy
摘要： This paper addresses the design of a novel bionic robotic device for upper limb rehabilitation tasks at home. The main goal of the design process has been to obtain a rehabilitation device, which can be easily portable and can be managed remotely by a professional therapist. This allows to treat people also in regions that are not easily reachable with a significant cost reduction. Other potential benefits can be envisaged, for instance, in the possibility to keep social distancing while allowing rehabilitation treatments even during a pandemic spread. Specific attention has been devoted to design the main mechatronic components by developing specific kinematics and dynamics models. The design process includes the implementation of a specific control hardware and software. Preliminary experimental tests are reported to show the effectiveness and feasibility of the proposed design solution.