Stroke or any other disorder may affect the motor skills of people. To return the motor skills, people must undertake rehabilitation, which can be applied in different ways. The subject of this thesis is robotic rehabilitation, where a patient has to finish a task with the help of a robot.
The first chapter presents the concept of virtual reality. Researchers from fields such as entertainment industry, military, aeronautics and many others are interested in studying virtual reality. Its essence is to replace the information our senses receive from real environment with the information we create in the virtual environment. Also presented in the first chapter is robotic rehabilitation, some of the robots used in robotic rehabilitation and bimanual robotic rehabilitation. At the end of the chapter are described the goals of this thesis.
The second chapter describes the system used in the thesis. Hardware is composed of a robot HapticMaster and a device with two rotational degrees of freedom that was designed in the laboratory. Software used for the thesis was Matlab and Unity. Finally the designed training task in a haptic and visual environment is described.
The third chapter contains the description of the experiments and their results. We performed three experiments that show the application of an adaptive coefficient in the robot control.