Analysis of 4 Degree of Freedom Robotic Arms with Spasticity Patient

摘要

This paper introduces the isokinetic measurement in randomly applied on the upper arms spasticity patient. Isokinetic is the stroke patient exercise with assist by the medical robotic technologies to therapeutic, diagnostic and laboratory assessment in constant movement. The fatigue of the spasticity patient is ideally vital to understand to make sure the robotic arms is not over drive during exercise. The repetition exercise may cause of medially fatigue. The model propose can predict early fiber muscle action and effect of a range of pulse durations on muscle fatigue. The Spasticity robotic arms was introduced to maximum in medially fatigue can cause damage of the fiber muscle tissue. Flexor Carpi Ulnaris (FCU), Palmanis Longus (PL), Extensor Digitorum (ED) and Extensor Carpi Radials (ECR) is the important muscle body to analyze. The Spasticity Robot Arms (SRA) was design to assists stroke patient in order to understand the capability of user and to provide high impact rehabilitation exercise. The goal of this research is to propose suitable algorithm in order to control multiple degree of freedom (DOF) to achieve a limited number of pre-defined motor synergies. A set of experiments will be conducted on four number of subjects to verify the Fugl Meyer assessment of the proposed algorithm.