Multi-Domain Dynamic Modelling of a Low-Cost Upper Limb Rehabilitation Robot

Tracking patient progress through a course of robotic tele-rehabilitation requires constant position data logging and comparison, alongside periodic testing with no powered assistance. The test must be compared previous attempts an ideal baseline, for which good understanding the dynamics robot is required. traditional dynamic modelling techniques serial chain robotics, involve forming solving equations motion, do not adequately describe multi-domain phenomena that affect movement rehabilitation robot. In this study, model upper limb described. model, built using combination MATLAB, SimScape, SimScape Multibody, comprises mechanical electro-mechanical control domains. performance was validated against when unloaded loaded human arm proxy. It shown software appropriate building provides advantages over approach. demonstrated responses match acceptable accuracy, though inability to backlash limitation.