Dispositivo Robótico Multifuncional para la Rehabilitación de las Extremidades Superiores

Abstract

This work presents an innovative rehabilitation device called Universal Haptic Pantograph (UHP). This robot, thanks to its multi-configurable structure allows the rehabilitation of all joints of the upper limb with a single mechanical device. In addition, it has been designed with the ability to perform different assistive and resistive tasks, allowing its adaptation to the recovery status of the patient. Finally, a support software, the Telereha generates a virtual reality environment, facilitating the execution of the exercise, while increasing the motivation of the patient. For the correct execution of the rehabilitation tasks the proposed algorithms have been implemented in real time. Also, different experimental tests have been carried out. Observing the results, it is concluded that the UHP rehabilitation robot works correctly with different rehabilitation tasks.