Robotic System for Active-Passive Strength Therapy

Abstract

The mobility recovery in patients with some trauma or stroke is the research objective to develop new rehabilitation technologies. Some technologies aim to improve the comfort and reduce the rehabilitation timing and cost. This work presents a mechatronic system able to perform passive therapy and strength training (SARPA), in order to this improvement. In the design stage, simulations are implemented to observe the system model behavior. The simulation uses the shoulder adduction and abduction motions. Additionally, model constrained force and disturbances are analyzed. In this work, the model behavior is obtained to develop the suitable control system.