A Simulator for Testing Planar Upper Extremity Rehabilitation Robot Control Algorithms

In this study, we took advantage of the emergence accurate biomechanical human hand models to develop a system in which interaction between arm and rehabilitation robot while performing planar trajectory tracking task can be simulated. Seven were based on 11-degree-of-freedom Dynamic Arm Simulation model implemented OpenSim. The was developed MatlabSimulink achieved using OpenSim API. tested by simulating performance each moving end effector simulated through an elliptical with eccentricity 0.94. Without assistance from robot, average root-mean-square error (RMSE) for all subjects 3.98 mm. With providing assistive torque, RMSE reduced 2.88 test repeated after modifying length links, 2.91 mm recorded. A single-factor ANOVA revealed that there no significant difference two different geometries (p-value = 0.479), revealing simulator not sensitive geometry.