期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2012
卷号：6
期号：3
页码：30
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：In this paper the rehabilitation device for upper arm based on artificial muscles is introduced. Presented au- tomated rehabilitation device has three degrees of free- dom: 2 DOF in arm and 1 DOF in elbow that provides almost all basic rehabilitation exercises. Artificial pneu- matics muscles will be tested in connection with spring and antagonistic connection. This system provides lifting and falling of arm construction based on patient force. There is possibility to generate help force during rehabili- tation or opposite load. Artificial muscles are controlled by pneumatic valves terminal from micro computer based on MCU. Higher level control system provides artificial intelligence implementation based on neural network for prediction and change of load according sensor values history (incremental sensor, pressure sensor). For proto- type testing there is described usability of industrial robot to test precision of load and trajectories during rehabili- tation. This automatic rehabilitation device will help to reduce therapeutics work with patient, automate and im- prove rehabilitation process.
关键词：rehabilitation; automation; artificial muscle; ; control
