Rehabilitation of Autism Spectrum Disorder (ASD) Children Using (RRR) Delta- 3 Robot

Abstract

Abstract-Our work concerns the development of the Delta-3 (RRR) parallel robot for the rehabilitation of autism spectrum disorder (ASD) children. The basic idea is to introduce training modes (passive and active) to the Delta-3 robot in order to help these children to stimulate their brains. In this paper the technical side (kinematic, dynamic and Control system) of rehabilitative Delta-3 robot is presented.The kinematics study is used to calculate the forward and inverse kinematic and also velocities and accelerations for robot. The dynamic study allows to calculate the contribution of torque/forces acting on three motors to actuate the three arms of Delta-3 robot and the Control system study is used to determine the necessary control elements for the motion of the robot. The Delta-robot's simulation result of a defined trajectory using SimMechanics and Simulink shows that our system has tracked the path, with a good spatial and temporal precision.