Skip to main content

Development of the Innovative Design of an Automatic Equipment to Aid in Physical Rehabilitation

  • 392 Accesses

Part of the Smart Innovation, Systems and Technologies book series (SIST,volume 198)


This paper addresses the development of an innovative design of an automatic equipment to aid in physical rehabilitation. Physical rehabilitation aims to help people with disabilities or about to get disabilities to interact with their social environment. During rehabilitation, the physiotherapist judges the training in the patient’s experience. For rehabilitation to be beneficial, the interaction between physiotherapist and patient is important. Several robotic devices have been developed by companies or institutions but with a high cost. The aim of this work is to present a robotic equipment for the physical rehabilitation of lower and upper limbs in patients who suffered muscle injury, stroke or surgery. A man-machine interface was developed to control the robot and manage the physical rehabilitation activity. Therefore, the physiotherapist begins to operate the system by entering the patient information and the type of exercise. The patient’s reactions will be computed during the exercises and detected by position and force sensors. Thus, from this innovation, patients can perform repetitive movements, exercising the affected limb, during the rehabilitation period, always following the recommendations of the physiotherapy professional. The project team is multidisciplinary and composed of engineers, mathematician, programmer and physiotherapists. So, security must be ensured by software and hardware in the system. Therefore, the manipulator robot can perform all active and passive exercises, as well as learn specific movements of exercises and execute them with or without the physical therapist through the human-machine interface.


  • Rehabilitation
  • Robotic
  • Interface man-machine

This is a preview of subscription content, access via your institution.

Buying options

USD   29.95
Price excludes VAT (USA)
  • DOI: 10.1007/978-3-030-55374-6_16
  • Chapter length: 8 pages
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
USD   149.00
Price excludes VAT (USA)
  • ISBN: 978-3-030-55374-6
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Softcover Book
USD   199.99
Price excludes VAT (USA)
Hardcover Book
USD   279.99
Price excludes VAT (USA)
Fig. 1.

Source: Adapted [7]

Fig. 2.

Source: Adapted [8]

Fig. 3.

Source: Adapted [9]

Fig. 4.

Source: Adapted [14]

Fig. 5.
Fig. 6.
Fig. 7.


  1. Gonçalves, R.S., Carvalho, J.C.M., Ribeiro, J.F., Salim, V.V.: Cable-driven robot for upper and lower limbs rehabilitation. In: Habib, M.K. (ed.) Handbook of Research on Advancements in Robotics and Mechatronics, pp. 284–315. IGI Global, Hershey (2015)

    CrossRef  Google Scholar 

  2. Babič, J., Mombaur, K., Lefeber, D., et al.: SPEXOR: spinal exoskeletal robot for low back pain prevention and vocational reintegration. In: González-Vargas, J., Ibáñez, J., Contreras-Vidal, J.L., et al. (Orgs.) Wearable Robotics: Challenges and Trends [s.l.], pp. 311–315. Springer, Cham (2017)

    Google Scholar 

  3. Babič, J., Petrič, T., Mombaur, K., et al.: SPEXOR: design and development of passive spinal exoskeletal robot for low back pain prevention and vocational reintegration. SN Appl. Sci. 1(3), 262–266 (2019)

    CrossRef  Google Scholar 

  4. Aliman, N., Ramli, R., Haris, S.M.: Design and development of lower limb exoskeletons: a survey. Robot. Auton. Syst. 95, 102–116 (2017)

    CrossRef  Google Scholar 

  5. Gonçalves, R.S., Carvalho, J.C.M.: Robot modeling for physical rehabilitation. In: Robotics: Concepts, Methodologies, Tools, and Applications, pp. 1212–1232. IGI Global (2014)

    Google Scholar 

  6. Barbosa, A.M., Carvalho, J.C.M., Gonçalves, R.S.: Cable-driven lower limb rehabilitation robot. J. Braz. Soc. Mech. Sci. Eng. 40(5), 1–11 (2018)

    CrossRef  Google Scholar 

  7. Díaz, I., Gil, J.J., Sánchez, E.: Lower-limb robotic rehabilitation: literature review and challenges. J. Robot. (2011). Article ID 759764, 11 pages

    Google Scholar 

  8. Hernandez, E., Valdez, S.I., Carbone, G., Ceccarelli, M.: Design optimization of a cable-driven parallel robot in upper arm training-rehabilitation processes. In: International Symposium on Multibody Systems and Mechatronics, pp. 413–423. Springer, Cham (2017)

    Google Scholar 

  9. Valdivia, C.H.G., Ortega, A.B., Salazar, M.A.O., Escobedo, J.L.C.: Design and analysis of a new robotic mechanism for lower limbs rehabilitation. In: 2013 International Conference on Mechatronics, Electronics and Automotive Engineering, pp. 15–20. IEEE (2013)

    Google Scholar 

  10. Todorov, E., Hu, C., Simpkins, A., Movellan, J.: Identification and control of a pneumatic robot. In: 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 373–380. IEEE (2010)

    Google Scholar 

  11. Pradipta, J., Klünder, M., Weickgenannt, M., Sawodny, O.: Development of a pneumatically driven flight simulator Stewart platform using motion and force control. In: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 158–163. IEEE (2013)

    Google Scholar 

  12. Abry, F., Brun, X., Sesmat, S., Bideaux, E.: Non-linear position control of a pneumatic actuator with closed-loop stiffness and damping tuning. In: 2013 European Control Conference (ECC), pp. 1089–1094. IEEE (2013)

    Google Scholar 

  13. Riachy, S., Ghanes, M.: A nonlinear controller for pneumatic servo systems: design and experimental tests. IEEE/ASME Trans. Mechatron. 19(4), 1363–1373 (2014)

    CrossRef  Google Scholar 

  14. Valdiero, A.C., Rasia, L.A.: Gestão de projetos de pesquisa e desenvolvimento de produtos mecatrônicos. In: Desafios em engenharia industrial, pp. 89–106. Unijuí, Ijuí (2016)

    Google Scholar 

Download references


This study was financed in part by the Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - Brasil (CAPES) - Finance Code 001. This work has financial support from Fapergs (project number 17/2551-0001014-0, Edictal 02/2017). The authors also would like to thank CNPq (National Council for Scientific and Technological Development) and Finep (Funding Authority for Studies and Projects) by financial support at the Innovation Center for Automatic Machines and Servo Systems (NIMASS) in UNIJUÍ University. And Federal Institute Farroupilha - IFFAR.

Author information

Authors and Affiliations


Corresponding author

Correspondence to Roberta Goergen .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and Permissions

Copyright information

© 2021 Springer Nature Switzerland AG

About this paper

Verify currency and authenticity via CrossMark

Cite this paper

Goergen, R. et al. (2021). Development of the Innovative Design of an Automatic Equipment to Aid in Physical Rehabilitation. In: Pereira, L., Carvalho, J., Krus, P., Klofsten, M., De Negri, V. (eds) Proceedings of IDEAS 2019. IDEAS 2018. Smart Innovation, Systems and Technologies, vol 198. Springer, Cham.

Download citation

  • DOI:

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-55373-9

  • Online ISBN: 978-3-030-55374-6

  • eBook Packages: EngineeringEngineering (R0)