Analytical Modeling of a Haptic-Robot System Used for Rehabilitation

Abstract

This paper reviews literatures describing models of how the central nervous system (CNS) generates motor signals/joint torques to move limbs to perform simple pick and place tasks as well as literatures describing applications of haptic robots used for rehabilitation.

The literatures reviewed point to a concentration of current research confined to either the generation of elaborate models of CNS function or to the performance measurements/design of haptic robots. There is thus a gap in modeling which examines and evaluates how haptic robots assist in rehabilitation engineering.

The proposed model addresses aspects of haptic robot performance in the rehabilitation of human patients who have to re-learn how to perform activities of daily living (ADLs).

Additionally, the proposed model simulates the generation of motor signals from the CNS to produce joint torques which then drive the haptic robot system to undertake pick and place tasks.

Aspects of model building strategies will also be discussed in the paper.