Optimization of the Design and Control of an Upper Limb Rehabilitation Robot with the Use of Biofeedback

The aim of this doctoral dissertation was to confirm three rehabilitation robotics theses. The first thesis was linked with the optimization of an upper limb rehabilitation robot design. Two remaining theses were associated with the use of bioelectric signals to control robots. Especially the EMG signals were talking into considerations. Research led to the creation of two upper limb rehabilitation robots and a spatial goniometer. Experiments linked with the robots required the development of technology "from scratch", including the mechanical structure, as well as the electronics and software for low-and high-level robot control. The main robot, which was called "Arm Rehabilitation Robot" consists of 7 active degrees of freedom. The robot consists of three main parts: the base, the 3-D linear gantry system and the orthosis, which is the most important part of the mechanical structure. An upper limb of a patient can be placed in the orthosis in order the robot to assist patient in various movements. The experiments connected to the mechanical structure inter alia led to the conclusions, that the joints of the robot should be compliant and reversible. There were proposed a view constructions, which took into account those considerations. The control system of the main robot is based on a number of cooperating programs, including, inter alia, a virtual reality module, admittance driver, as well as a biofeedback system which utilizes electromyographic signals. The admittance controller allow the first joint of robot to be driven in complain framework of operation and the biological loop allows a patient to control the robot, even if he or she is only able to slightly tighten his or her muscles.