Ayak bileği ve diz rehabilitasyonunda pasif egzersizler için stewart platform tabanlı robot tasarımı

Günümüzde robotların sanayi ve günlük yaşamda kullanım alanları artmakta ve bununla birlikte uygulamaların robotlar tarafından yerine getirilmesi için farklı robot tasarımları geliştirilmektedir. Paralel robotlar, kapalı zincir kinematik yapısından dolayı kısıtlanmış çalışma uzayına sahiptir. Bunun yanı sıra bu kinematik yapı robota yüksek konum hassasiyeti ve rijitlik kazandırmaktadır. Rehabilitasyon robotlarında; rijit yapı ve hassas pozisyonlama en önemli unsurlardır bu nedenle paralel robotlar rehabilitasyon uygulamalarına uygundur. Bununla birlikte, paralel robotların sınırlı çalışma uzayı eklem hareket açıklığında kısıt oluşturmaktadır. Bu çalışmada; Stewart Platformunun yapısına, 7’inci lineer aktüatör ve buna bağlı bir mekanizma ilave edilip çalışma uzayı genişletilerek ayak bileğinin yanı sıra dize de rehabilitasyon yapılmasını sağlayan yeni bir robot tasarlanmıştır. Mekanik tasarım, elektronik donanım, Newton-Raphson sayısal yöntemiyle ileri kinematik ve vektörel ters kinematik hesaplamalarıyla oluşturulan matematiksel alt yapısı ve PID pozisyon kontrolü birleştirilerek rehabilitasyon robotu tasarlanmıştır. İnsan bacağı üzerinde yapılan deneylerle robotun, ayak bileği ve diz eklem hareket açıklıklarını gerçekleştirebilme ve pozisyonlama sonuçları değerlendirilmiş ve literatürle karşılaştırılmıştır. Deneysel ölçümlere göre yörünge takibinde zaman gecikmesi 0,5 saniyenin altında ve azami açı sapması 1,2° elde edilmiştir.

Stewart platform based robot design and control for passive exercises in ankle and knee rehabilitation

Nowadays, usage of robots in industry and daily life is increasing, additionally, different robot designs are developed in order to fulfill the applications optimally by means of robots. Parallel robots have a restricted workspace due to their closed chain kinematic structure. However, this kinematic structure provides the robot high positioning accuracy and rigidity. Precise positioning and rigidity are most important key aspects for rehabilitation robots, therefore parallel robots are very suitable for rehabilitation applications. However, the limited workspace of the parallel robot creates a limitation in joint range of motion. In this study, a new rehabilitation robot was designed with the addition of Stewart Platform structure, $7^{th}$ linear actuator and mechanical part, thus extending the workspace and providing rehabilitation to ankle and knee joints. The robot is configured by combining mechanical design, electronic hardware, mathematical model based on the Newton-Raphson method for forward kinematics as well as vectorial approach for inverse kinematics, and PID position control. Experiments were performed on human leg; ankle and knee range of motion and positioning results are evaluated and compared with literature. According to experimental measurements, the time delay in trajectory tracking was less than 0.5 seconds and the maximum angle deviation was 1.2°.

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