Abstract
This paper is focused on the development of a control system, implemented on a parallel robot designed for the lower limb rehabilitation of bedridden stroke survivors. The paper presents the RECOVER robotic system kinematics, further implemented into the control system, which is described in terms of architecture and functionality. Through a battery of experimental tests, achieved in laboratory conditions using eight healthy subjects, the feasibility and functionality of the proposed robotic system have been validated, and the overall performance of the control system has been studied. The range of motion of each targeted joint has been recorded using a commercially available external sensor system. The kinematic parameters, namely the patient’s joints velocities and accelerations have been recorded and compared to the ones obtained using the virtual model, yielding a very small difference between them, which provides a validation of the RECOVER initial design, both in terms of mechanical construction and control system.
Highlights
Stroke is one of the most frequent neurological diseases of our time [1]
In order to validate the functionality of the robotic system and at the same time to test the control system, data recorded is compared with a mathematical simulation performed in MATLAB [30] using the kinematic model of RECOVER
Data obtained from the mathematical simulation is plotted and the data obtained from experimental tests is superposed over the simulation data
Summary
Stroke is one of the most frequent neurological diseases of our time [1]. In the European Union in 2017, there were 1.12 million incidents of strokes, 9.53 million stroke survivors, 0.46 million deaths, and 7.06 million disability-adjusted life years lost due to stroke. It is estimated there will be an extra 40,000 incidents of strokes (+3%) and. Lithuania is anticipated to see the biggest increases in age-adjusted incidence and prevalence rates (0.48 percent and 0.7 percent yearly percentage changes, respectively), while Portugal is expected to see the largest decreases (−1.57 percent and −1.3 percent, respectively) [3]. 4% of adults will have a stroke in 2030, and the yearly medical cost of stroke would rise from 71.55 billion USD in 2012 to 183.13 billion USD in 2030, merely in the United States [4]
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