Robotic rehabilitation with the elbow stiffness adjustability

In this paper, a cable actuated robot is introduced as a new rehabilitation approach. The quality improvement of human and machine interface has led to create a new device in this area. The interface between the robots with the physical characteristics of body can improve the interaction forces and the patient safety. Considering the joint compliance during the motion range can make the patient feel better and thus, bring success for the rehabilitation program. The key element "cable" makes the possibility of force transmission in this mechanism. Cable actuator is used in this project in order to achieve to maximum adaptation with elbow operation Moreover in the design of rehabilitation device, some advantages are regarded like the low-cost and light weight, smooth joint motion with adjustable stiffness, motor size reduction. The dynamic parameters related to the elbow behavior are described with amplitude and frequency investigating. The performance of the elbow rehabilitation device is examined. Stiffness variation of robot joint is effectively compatible with the elbow joint stiffness according to rehabilitation protocols. As the presented mechanism able to simulate elbow rehabilitation, it can be used more widely in the field of medical robotics.