کنفرانس مهندسی برق ایران

صفحه اصلی / سی امین کنفرانس بین المللی مهندسی برق

Physiotherapy Algorithms on FUM-Physio Robot

نویسندگان :

Keyvan Tayaranian Marvian¹ Amir Hossein Nazari² Seyed Mohammad Tahamipour Zarandi³ Mohammad Reza Akbarzadeh totonchi⁴ Zahra Soltani⁵ Alireza Akbarzadeh totonchi⁶

1- Faculty of Engineering Ferdowsi University of Mashhad, Mashhad, Iran 2- Faculty of Engineering Ferdowsi University of Mashhad, Mashhad, Iran 3- Faculty of Engineering Ferdowsi University of Mashhad, Mashhad, Iran 4- Faculty of Engineering Ferdowsi University of Mashhad, Mashhad, Iran 5- Faculty of Engineering Ferdowsi University of Mashhad, Mashhad, Iran 6- Faculty of Engineering Ferdowsi University of Mashhad, Mashhad, Iran

کلمات کلیدی :

FUM-Physio،Isokinetic،Isometric،Isotonic،Passive،Fuzzy controller

چکیده :

The advancememnt of robotics technolofy has brought new possibilities for the world of physical therapy and rehabilitation. This paper presents physiotherapy algorithms for passive motion, isotonic, isometric, isokinetic and spring-movement exercises. All the mentioned algorithms are experimentally implemented on the FUM-Physio robot, which is manufactured at the center of advanced rehabilitation and robotics research at the Ferdowsi University of Mashhad, FUM CARE. A fuzzy gain scheduling PID controller is proposed for the particulars of the spring-movement exercise. Next, the fuzzy gain scheduling PID controller is experimentally compared with a conventional PID controller to validate the control performance. Results show that the physiotherapy algorithms on the FUM-Physio is correctly implemented and that the proposed fuzzy gain scheduling PID controller outperforms the PID controller.