Rehabilitation robot for bimanual training

Možganska kap je bolezen, katere pogosta posledica je zmanjšana gibalna zmožnost udov. Za pomoč pri okrevanju se izvaja rehabilitacija, ki lahko uporablja tudi robotske mehanizme. V diplomski nalogi sem se posvetil mehanizmu za dvoročno robotsko rehabilitacijo zgornjih udov. Drugo poglavje opisuje nadgradnjo obstoječega mehanizma. Opisano je načrtovanje in izdelava dvoročnega mehanizma, ki omogoča dva načina vadbe – sofazno in protifazno vadbo. Poglavje opisuje katere so prednosti novega dvoročnega mehanizma v primerjavi z obstoječim mehanizmom. V tretjem poglavju je opisano admitančno vodenje robota in dvoročnega manipulatorja iz izmerjenih sil. Poglavje opiše pristop vodenja, ki je uporabljen, da iz izmerjene sile pridemo do želene pozicije, ki se nato uporablja za vodenje pozicije robota in dvoročnega manipulatorja. Četrto poglavje opisuje validiranje dokončanega mehanizma in vodenja. Prikazane so različne lege dvorčnega manipulatorja, ki jih dosežemo z ustreznim vodenjem. Prikazanih je tudi nekaj primerov uporabe programske opreme Unity za dodajanje grafične podobe vajam. V zadnjem petem poglavju pa so strnjeni zaključki iz diplomske naloge. Dvoročni manipulator, ki omogoča sofazno in protifazno vadbo je bil uspešno realiziran in validiran.Stroke is a diseasewhose consequence is often movement impairment of limbs. Recovery uses rehabilitation, which can also use robotic mechanisms. In the thesis I took a look at a robotic mechanism for bimanual rehabilitation of upper limbs. The second chapter describes the upgrade of the existing mechanism. Described are the designing and building of the bimanual mechanism, which also supports two types of exercises - so-phase and anti-phase exercises. The chapter describes the advantages of the new bimanual mechanism in comparison to the current mechanism. The third chapter describes admittance control of the robot and bimanual manipulator from the measured forces. It describes the control principles used to get from the measured force to the wanted position which is used for regulation of the position of the robot and bimanual manipulator. The fourth chapter contains validation of the finished mechanism and its control. It shows the different positions of the bimanual manipulator, which are achieved with appropriate control. The chapter also shows a few cases of using Unity software to add a visual part to the exercises. In the fifth chapter are contained the conclusions of the thesis. The bimanual manipulator, which allows for so-phase and anti-phase exercises was successfully realized and validated