Human-Robot Interaction in the Rehabilitation Robot Renus-1

摘要

Renus-1 is a mechatronic system for support of rehabilitation of the patients with dysfunctions of the upper arm. It is the End-effector based device. It contacts the patient's limb only at its most distant part, the handle. The mechanical structure of the manipulator is a SCARA like, with 3 DOF. The robot control system uses commercial components of Mitsubishi Electric, typically used in industrial automation. Each axis is moved by synchronous motor with permanent magnets, controlled by individual servo cooperating with the PLC CPU. As the user interface the standard PC station was used. It is working under control of specialized application software. PC is equipped with 2 screens: the first for the patient and the second one for the therapist. Two main modes of work are available: teaching and training. In the training mode it is possible to perform active as well as passive rehabilitation. In both cases patient has current information about the course of the exercise. These data are stored in the PC mass memory, with possibility to send via LAN to the external computer station for further processing. The handle is equipped with the six-axis sensor (forces and torques). Additional for safety reasons patient has special permission button. It must be pressed, so that the robot can perform a translational motion. Also Emergency Stop button is mounted.