Preliminary Study on the Admittance Control of a Hand Rehabilitation System

摘要

Neurological disorders influence human life by destructing neural commands. In such cases, rehabilitation procedures should be applied to the patients immediately in order to create neural plasticity and regain affected motor functions. On the other hand as the number of available physical therapists is limited and rehabilitation procedures requires heavy cumbersome work that affects overall quality of the treatments, immediate interventions are limited after the accidents. As a result, studies towards rehabilitation robotics in related literature that includes both design and control strategies have started to increase rapidly in order to compensate high numbers of treatment needs. In light of this, current study tries to implement admittance control algorithm to a one degree of freedom hand rehabilitation robot that is currently under development. At the end of the preliminary study, promising results were achieved and represented.