Abstract
This thesis addresses the need for continuous advancements in stroke rehabilitation, focusing on enhancing post-stroke treatment through rehabilitative robotics, with a specific emphasis on the BLUE SABINO exoskeleton. Redesign and fabrication efforts were directed at improving the systems stability, mobility, adaptability, and user-friendliness. The integration of the OTHER Hand exoskeleton expands BLUE SABINO's capabilities, incorporating grasping tasks into assessments and broadening the range of rehabilitation activities.Redesign and fabrication of the base structure for BLUE SABINO was focused around improving stability and mobility of the system while also facilitating shoulder width adjustment. The experimental chair underwent enhancements from its previous iteration, reducing the complexity and number of adjustment mechanisms, while also improving on its stability and aesthetic appeal. Leveraging Simulink’s real-time technology paired with a Speedgoat target computer, and Beckhoff IO modules, The OTHER Hand's control scheme was developed and tested using two control approaches—direct speed control and torque-based admittance control.
Results demonstrated the stability and mobility achieved with the revised BLUE SABINO base structure, particularly when used in a bilateral configuration. The experimental chair exhibited improved aesthetics and stability with a simplified adjustment system. The control system for The OTHER Hand, grounded in Human-Machine Interface principles, revealed that torque-based admittance control outperformed direct speed control in terms of responsiveness and accuracy during testing.
This exploration of the mounting structure redesign, coupled with the development of an experimental chair for BLUE SABINO provide critical features to the system’s success. The design of the control system for The OTHER Hand can integrate with BLUE SABINO ultimately creating a multifaceted tool for the assessment and tracking of stroke rehabilitation. The narrative strives to contribute seamlessly to the evolving landscape of rehabilitation robotics, championing user comfort, adaptability, and enhanced rehabilitative efficacy in the pursuit of comprehensive stroke rehabilitation solutions.