Development of an intelligent controller for robot-aided assessment and treatment guidance in physical medicine and rehabilitation
TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, vol.29, no.1, pp.403-420, 2021 (SCI-Expanded, TRDizin)
- Publication Type: Article / Article
- Volume: 29 Issue: 1
- Publication Date: 2021
- Doi Number: 10.3906/elk-2007-24
- Journal Name: TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
- Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), TR DİZİN (ULAKBİM)
- Page Numbers: pp.403-420
- Yıldız Technical University Affiliated: Yes
Abstract
In this study, an intelligent controller was developed for a rehabilitation robot called DIAGNOBOT, which can be used for assessment and treatment in the rehabilitation of wrist and forearm. The controller has a decision support system structure strengthened with conventional statistical methods and databases. The controller uses the patient's biomechanical parameters to make an assessment and proposes a treatment in line with this. In accordance with the recommended treatment, it produces the control parameters, torque, and position information for the control of the rehabilitation robot. The system's ability of assessment and treatment was tested with voluntary patients. Through these test studies, the treatments recommended by the developed intelligent controller have been proven to have a very high rate of accuracy.