Controle de um Braço Robótico para Reabilitação Motora

Abstract

Stroke is one of the main causes of disability in Brazil. Along with spinal cord injury is one of the main motor disorders that lead to physical deterioration and loss of independence in a individual. The use of robots in medicine is becoming more and more recommended because robots have more precision, speed, fatigue-free repetition and shorter operating time among other things. Rehabilitation robo- tic arms have passive, active-assistive and active resistive therapies. In this work, a system to control a robotic arm for the rehabilitation of upper limbs that acts in passive mode was developed. Among the objectives are the implementation of a passive mode control, hardware development, human-machine interface and a system integration analysis. This work is justified due to the promising results of robotic rehabilitation, increased effort at a scientific level to develop neurotechnologies and the studies that were analyzed demonstrating that robotic therapy brings benefits in the functiona- lity of the upper limbs in patients who have suffered a stroke. The development of this work presents a passive mode control inspired by an execution of InMotion, elaborated with the help of a phy- siotherapist, displaying a user-friendly graphical interface which presents the patient’s data and allows them to be saved and used later. Tests showed that the execution of the exercise performed smoothly, without discontinuity with constant speed and correctly stored exercise data.