A flexible robot arm applied into a rehabilitation device for the human wrist.

This robot arm has three degree-of-freedom that is bending, expanding and contracting. When the robot arm is applied to a rehabilitation device, two kinds of control method are needed. One is a masterslave control, and the other is a trajectory control. The master-slave control is necessary when a physical therapist wants to give a rehabilitation motion to a patient. 

Simple-structured Pneumatic Robot Arm

<p>This robot arm has three degree-of-freedom that is bending, expanding and contracting. When the robot arm is applied to a rehabilitation device, two kinds of control method are needed. One is a masterslave control, and the other is a trajectory control. The master-slave control is necessary when a physical therapist wants to give a rehabilitation motion to a patient.</p><p>While the trajectory control system is necessary when a sequential rehabilitation motion is applied to a patient. This robot uses a compact and inexpensive control system constructed and tested by using a low-cost embedded controller. The control system consists of a flexible robot arm, a low cost microcomputer, accelerometers, and small-sized quasi-servo valves which are developed by us using the on/off control valve. The master-slave control system and the trajectory control system were carried out using a PID control scheme.</p><h3><strong>Specifications</strong></h3><ul><li>Degrees of freedom: 3</li><li>Pneumatic cylinder actuators: 3</li><li>Outer diameter: 100 mm</li><li>Quasi-servo valves: 6</li><li>Microcomputer: Renesas Co. Ltd., SH7125<ul><li>Clock frequency: 16 MHz</li><li>ROM: 32 kB</li><li>RAM: 2 kB</li><li>10bit A/D converter</li><li>3ch PWM ports</li></ul></li></ul>

Development of a Simple-structured Pneumatic Robot Arm and its Control Using Low-cost Embedded Controller" vie MDPI

A flexible robot arm applied into a rehabilitation device for the human wrist.

