Control and modeling of a arm robot for the purpose of rehabilitation

In this paper, modeling and simulation of an exoskeleton based on bio mechatronics has been examined using MATLAB software. Exoskeletons are a kind of robot which have a constant and direct communication with the user's body like a rigid clothes and is used in most of the daily activities. In exoskeleton, the movement of the robot determines the movement of an organ. This robotic arm should be able to function in a dynamic situation and ensure a reasonable behavior in unforeseen circumstances. To do this, the control method is required that needs an accurate model of the system because the robotic arm has to get involved with the arm and forearm of the injured person and applies force to it properly. The robot should also make definitive decisions based on imprecise or incomplete information. The results obtained from this simulation approach showed that this method can be used as a suitable one in designing and modeling of these robots for rehabilitation of forearm and arm muscles in injured people.

Control and modeling of a arm robot for the purpose of rehabilitation Keywords:

robotic arm , exoskeleton , bio mechatronics , robotics rehabilitation