Abstract
Renus-1 is a mechatronic system for support of rehabilitation of the patients with dysfunctions of the upper arm. It is the End-effector based device. It contacts the patient’s limb only at its most distant part, the handle. The mechanical structure of the manipulator is a SCARA like, with 3 DOF. The robot control system uses commercial components of Mitsubishi Electric, typically used in industrial automation. Each axis is moved by synchronous motor with permanent magnets, controlled by individual servo cooperating with the PLC CPU. As the user interface the standard PC station was used. It is working under control of specialized application software. PC is equipped with 2 screens: the first for the patient and the second one for the therapist. Two main modes of work are available: teaching and training. In the training mode it is possible to perform active as well as passive rehabilitation. In both cases patient has current information about the course of the exercise. These data are stored in the PC mass memory, with possibility to send via LAN to the external computer station for further processing. The handle is equipped with the six-axis sensor (forces and torques). Additional for safety reasons patient has special permission button. It must be pressed, so that the robot can perform a translational motion. Also Emergency Stop button is mounted.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Siciliano, B., Khatib, O. (eds.): Springer Handbook of Robotics. Springer-Verlag, Heidelberg (2008)
Engelberger, J.F.: Robotics in Service. MIT Press, Cambridge (1989)
Dunaj, J., Klimasara, W.J., Pilat, Z., Rycerski, W.: Human-robot communication in rehabilitation devices. JAMRIS J. Autom. Mob. Rob. Intell. Syst. 9(2), 9–19 (2015). ISSN 1897-8649
Maciejasz, P., et al.: A survey on robotic devices for upper limb rehabilitation. J. Neuroeng. Rehabil. 11(3), 29 (2014). doi:10.1186/1743-0003-11-3
Goodrich, M.A., Schultz, A.C.: Human–robot interaction: a survey. Found. Trends Hum. Comput. Interact. 1(3), 203–275 (2007). doi:10.1561/1100000005
Koukolová, L.: Overview of the robotic rehabilitation systems for upper limb rehabilitation. Transfer inovácií 30(2014), 146–149 (2014)
Pilat, Z., Klimasara, W.J., Juszyński, Ł., Michnik, A.: Research and development of rehabilitation robotics in Poland. Appl. Mech. Mater. 613, 196–207 (2014). Trans Tech Publications, Switzerland, ROBTEP 2014
Gomez-Rodriguez, M., Grosse-Wentrup, M., Hill, J., Gharabaghi, A., Schölkopf, B., Peters, J.: Towards brain–robot interfaces in stroke rehabilitation. In: Proceedings of IEEE International Conference on Rehabilitation Robotics, pp. 1–6 (2011)
The International Conference on Social Robotics. http://www.icsr2013.org.uk/
The International Conference on Human-Robot Interaction. http://humanrobotinteraction.org/2013/
A Research Portal for the HRI Community. http://humanrobotinteraction.org/
Acknowledgements
The paper is a result of the project: RoboReha – Robotics in Rehabilitation, LdV – TOI no. 13310 0530. This project is partially funded by the European Commission. This paper reflects the authors’ opinion only. Neither the European Commission nor the National Agency takes any responsibility for any information contained herein.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Dunaj, J., Klimasara, W.J., Pilat, Z. (2017). Human-Robot Interaction in the Rehabilitation Robot Renus-1. In: Szewczyk, R., Kaliczyńska, M. (eds) Recent Advances in Systems, Control and Information Technology. SCIT 2016. Advances in Intelligent Systems and Computing, vol 543. Springer, Cham. https://doi.org/10.1007/978-3-319-48923-0_39
Download citation
DOI: https://doi.org/10.1007/978-3-319-48923-0_39
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-48922-3
Online ISBN: 978-3-319-48923-0
eBook Packages: EngineeringEngineering (R0)