İbrahim KARABIYIK, Ergin KILIÇ, Atilla BAYRAM

BİLEK REHABİLİTASYONU İÇİN DÜŞÜK MALİYETLİ BİR TAŞINABİLİR ROBOTİK CİHAZIN GELİŞTİRMESİ VE KONTROLÜ

Bu çalışma kapsamında, el bileğinde dışa büküm ve içe büküm bilek hareketlerini kaybetmiş kısmi felçli hastalar için düşük maliyetli ve taşınabilir bir robotik rehabilitasyon cihazı geliştirilmiştir. Aktif bilek ortezi olarak tanımlanan bu cihaz ile rehabilitasyon merkezlerine ve bir sağlık personeline bağımlı kalmaksızın herhangi bir ortamında felçli hastalara tekrarlı bilek hareketlerinin yaptırılması amaçlanmıştır. Bu amaç için bir robotik ortez tasarımı yapılıp prototip üretimi tamamlanmıştır. Bu prototip üzerinde elin ekstansiyon ve fleksiyon hareketlerinin konum kontrolü hem pasif hem de aktif rehabilitasyon modlarında yapılabilmektedir. Pasif rehabilitasyon modunda değişken hızlarda salınım hareketi bir potansiyometre yardımıyla gerçekleştirilirken aktif rehabilitasyon modunda ise EMG algılayıcıları üzerinden konum kontrolü, kuvvet sensörü üzerinden ise bir admitans türü kontrol mimarisi yardımıyla dirençli egzersiz uygulamaları tamamen cihaz kullanıcısının isteği/gayesi doğrultusunda gerçekleşmektedir. Tasarlanan bilek ortezinin mobil olmasının yanında en önemli hedeflerden biri de düşük maliyetli olmasıdır. Cihazdan istenen performansı yerine getirebilecek ölçüde donanım elemanlarının kullanılması ile performans/fiyat oranı en üst seviyede tutulmaya çalışılmıştır. Son olarak literatürde bu çalışmaya benzer fakat maliyeti oldukça yüksek bir başka çalışma ile performans ve maliyet yönüyle karşılaştırma yapılmıştır

Anahtar Kelimeler:

Robotik rehabilitasyon, Pasif bilek rehabilitasyonu, Aktif bilek rehabilitasyonu, EMG Sinyalleri, Gerçek zamanlı hareket denetimi, Admitans kontrolü

Development and Control of a Low-Cost and Portable Robotic Device for Wrist Rehabilitation

In this study, a low cost and portable robotic device has been developed for patients with partial paralysis who have lost outward and twist wrist movements in the wrist. The main task of the device is to allow patients with partial paralysis to recover more quickly by performing repetitive wrist movements. The device is designed to allow the patient to perform wrist exercises comfortably in the home environment without being dependent on rehabilitation centers and a medical staff. In this study, a robotic orthesis device has been designed and manufactured with low cost. The flexion and extension motion control of the wrist were applied on this device in passive and active modes. In passive rehabilitation mode, oscillation movement at variable speeds and position control with potentiometer were performed. In the active mode, the device control can be provided directly via EMG sensors and according to the desire of the users, admittance control architecture is realized with the help of a force sensor. In addition to being a portable (light and mobile), one of the most important goals in this study is low cost. For this aim, the performance / price ratio was tried to be kept at a reasonable level with the selected hardware. Finally, this study was compared with similar another study but with a very high cost in terms of the performance and cost.

Keywords:

Robotic rehabilitation, Passive wrist rehabilitation, Active wrist rehabilitation, EMG signals, Real-time motion control, Admitans control,

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