Therapeutic exercises play an important role in physical therapy and rehabilitation. The use of robots has been increasing day by day in the practice of therapeutic exercises. This study aims to design and control a novel robotic platform named DIAGNOBOT for diagnosis and treatment (therapeutic exercise). It has three 1-degree-of-freedom robotic manipulators and a single grasping force measurement unit. It is able to perform flexion-extension and ulnar-radial deviation movements for the wrist and pronation-supination movement for the forearm. The platform has a modular and compact structure and is capable of treating two patients concurrently. In order to control the DIAGNOBOT, an impedance control-based controller was developed for force control, which was required for the exercises, as well as a proportional-integral-derivative controller for position control. To model the resistive exercise, an angle-dependent impedance control method different from traditional methods has been proposed. Experiments were made on five healthy subjects and it has been demonstrated that the proposed robotic platform and its controller can perform therapeutic exercises.
Abstract. In this paper, it is intended to make the mechanical design of 3 axis Computer Numerical Control (CNC) router with linear joints, production of electronic control interface cards and drivers and manufacturing of CNC router system which is a combination of mechanics and electronics. At the same time, interface program has been prepared to control router via USB. T he router was developed for educational purpose. In some vocational schools and universities, Computer Aided Manufacturing (CAM) courses are though rather theoretical. T his situation cause ineffective and temporary learning. Moreover, students at schools which have the opportunity to apply for these systems can face with various dangerous accidents. Because of this situation, these students start to get knowledge about this system for the first time. For the first steps of CNC education, using smaller and less dan gerous systems will be easier. A new concept CNC machine and its user interface suitable and profitable for education have been completely designed and realized during this study. T o test the validity of the hypothesis which the benefits that may exist on the educational life, enhanced traditional education method with the contribution of the designed machine has been practiced on CAM course students for a semester. At the end of the semester, th e new method applied students were more successful in the rate of 27.36 percent both in terms of verbal comprehension and exam grades.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.