Bir ayak bileği rehabilitasyon robotunun tasarımı, üretimi ve kontrolü

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Thesis Type: Postgraduate

Institution Of The Thesis: Yıldız Technical University, Graduate School of Natural and Applied Sciences, MEKATRONİK MÜHENDİSLİĞİ ANABİLİM DALI, Turkey

Approval Date: 2022

Thesis Language: Turkish

Student: EMRE YILDIRIM

Principal Supervisor (For Co-Supervisor Theses): Erhan Akdoğan

Co-Supervisor: Tuğçe Özekli Mısırlıoğlu

Open Archive Collection: AVESIS Open Access Collection

Abstract:

In this thesis study, it is developed a portable and compact robotic rehabilitation system for the ankle which provides effective and safe human-robot interaction to assist doctors and physiotherapists. In this context, it is realized that design, production, and control of a robotic system that can measure biomechanical parameters (range of motion and torque of the ankle) sensitively, apply passive stretching which is a type of therapeutic exercise by using hybrid impedance control method. Passive stretching exercise is modeled with the support of physical therapy and rehabilitation experts and doctors and it is shown that passive stretching exercise, which is manually applied by physiotherapists in the clinic, can be applied by the developed robotic system. As a result of the clinical experiments performed with healthy and patient volunteers, it has been revealed that the developed ankle rehabilitation robot can make sensitive biomechanical measurements and performs physical therapy and rehabilitation for the ankle. The data recorded in clinical experiments are given graphically, the effectiveness of the hybrid impedance control used in human-robot interaction, its suitability for patient safety, and the robotic modeling of the exercises performed manually by physiotherapists is analyzed and the results are presented. The contribution of this study to the literature is the ability to perform ankle physical therapy and rehabilitation with a portable and compact robotic mechanism that uses hybrid impedance control method with a control algorithm modeling the manual therapeutic exercises performed by physiotherapists.