Nadgradnja in vodenje rehabilitacijskega robota za dvoročno vadbo

ŠEPETAVC, JANEZ (author), Mihelj, Matjaž (mentor)

Ljudje imajo lahko po možganski kapi ali kakšni drugi bolezni zmanjšano gibljivost rok, zato morajo izvajati rehabilitacijo, če si želijo povrniti oziroma izboljšati gibljivost. Rehabilitacija se lahko izvaja na več načinov. Ta diplomska naloga se je posvetila robotski rehabilitaciji. Robotska rehabilitacija je vadba, kjer pacient s pomočjo robota opravlja zadano nalogo. Prvo poglavje se začne s predstavitvijo navidezne resničnosti. Navidezna resničnost je tehnično področje, ki je trenutno zelo zanimivo za raziskovalce na različnih področjih. Uporablja se v zabavni industriji, medicini, vojski, letalstvu in še marsičem. Njeno bistvo, je nadomestiti dražljaje iz realnega okolja s sintetiziranimi dražljaji. Prav tako je predstavljena robotska rehabilitacija, nekateri roboti za robotsko rehabilitacijo in dvoročna robotska vadba. Na koncu poglavja so še opisani cilji diplomske naloge. V drugem poglavju je opisan celoten sistem, ki je bil uporabljen pri tej diplomski nalogi. Strojni del sestavljata robot HapticMaster in naprava z dvema rotacijskima prostostnima stopnjama, ki je bila narejena v Laboratoriju za robotiko. Kot programska oprema pa sta bila uporabljena programa Matlab in Unity. Sledi opis naloge za vadbo v haptičnem in grafičnem okolju. V tretjem poglavju so opisani eksperimenti in rezultati eksperimentov. Opravili smo tri različne eksperimente s katerimi smo pokazali delovanje adaptivnega vodenja.

• Language: Slovenian
• Keywords: navidezna resničnost, robotska rehabilitacija, igra
• Work type: Undergraduate thesis
• Organization: FE - Faculty of Electrical Engineering
• Year: 2016
• PID: 20.500.12556/RUL-85552
• Publication date in RUL: 16.09.2016

Secondary language

• Language: English
• Title: Upgrade and control of a rehabilitation robot for bimanual training

Abstract

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.

• Keywords: virtual reality, robotic rehabilitation, game