Physiotherapy Algorithms on FUM-Physio Robot

摘要

The advancement of robotics technology 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 are correctly implemented and that the proposed fuzzy gain scheduling PID controller outperforms the PID controller.