Developing a new tele rehabilitation wrist and forearm therapy system with haptic feedback

Publikationstyp
Conference Paper not in Proceedings
Date Issued
2022-05
Sprache
English
Author(s)
Abbasimoshaei, Alireza  orcid-logo
Kitajima Borges, Jose Pedro  
Kern, Thorsten Alexander  orcid-logo
Institut
Mechatronik im Maschinenbau M-4  
TORE-URI
http://hdl.handle.net/11420/12913
Citation
13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022
Contribution to Conference
13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022  
In this demo, we would like to introduce a new wrist and forearm tele-rehabilitation system between the patient and the physical therapist. To provide haptic feedback between these two parties, an impedance controller was developed between these two systems. By changing the stiffness and damping coefficients, the quality of communication between these two systems is changed. This is a very useful system for tele- and home rehabilitation. Position, velocity, and torque data from both robots were collected and analyzed to verify that haptic feedback was generated. This data is also stored and sent to the physical therapist.