Design and Evaluation of a Multi-Mode Robotic Arm Orthosis using Musculoskeletal Simulation

Abstract

Robotic upper extremity orthoses have been used in rehabilitation for therapy of neuromuscular disorders and successful implementations are demonstrated by numerous clinical results. Majority of researchers focused on orthotic devices enabling basic therapy mode operations. However, there is still need for new orthotic designs which facilitates therapy modes and assistance for daily life activities in coherence. In this work, design of a multi-mode two DoF robotic arm orthosis is introduced. The designed robotic orthosis is implemented in simulation and tested with a human arm musculoskeletal model, for compliant operation. It uses model based computed torque controller and is tested for multi-mode operation. The performance is evaluated for compliant operation of "Assistive" and "Resistive" rehabilitation modes. Performance tests yielded encouraging results for future developments.