Designing, Prototyping, and Controlling a Portable Rehabilitation Robot for the Shoulder Physiotherapy and Training

Mohamad Ali Soleimani †
Hassan Zohoor †
AliReza Fallah Yakhdani †
Mohammad Heravi †
Esmaeil Mohammadi †
Published at 2019 7th RSI International Conference on Robotics and Mechatronics (ICRoM)

†School of Mechanical Eng., Sharif University of Technology

DOI

Abstract

Stroke and accident survivors often lose shoulder mobility, but many rehabilitation exoskeletons stay confined to clinics. This paper introduces a portable five-degree-of-freedom wearable robot tailored for in-home physiotherapy sessions. The mechanism adapts to different body sizes, and the control loop leverages surface electromyography to modulate assistance while enforcing user safety.

Keywords

Shoulder rehabilitation · Wearable robotics · EMG control · Portable exoskeleton · Physiotherapy automation

Technical highlights

Demonstration video

A short demonstration of the portable shoulder rehabilitation robot in use.

Evaluation snapshot

BibTeX

    @INPROCEEDINGS{9071844,
  author={Soleimani, Mohamad ali and Zohoor, Hassan and Yakhdani, AliReza Fallah and Heravi, Mohammad and Mohammadi, Esmaeil},
  booktitle={2019 7th International Conference on Robotics and Mechatronics (ICRoM)}, 
  title={Designing, Prototyping, and Controlling a Portable Rehabilitation Robot for the Shoulder Physiotherapy and Training}, 
  year={2019},
  volume={},
  number={},
  pages={281-284},
  keywords={Actuators;Electromyography;Safety;Shoulder;Medical treatment;Rehabilitation robotics;Exoskeleton Robot;Shoulder Physiotherapy and Training;Robot-assisted Rehabilitation;EMG-based Controller},
  doi={10.1109/ICRoM48714.2019.9071844}
}