Control design of a wearable device for arm rehabilitation

In this thesis it is explored the world of arm rehabilitation robots. In particular this project is specific on machines used for elbow rehabilitation for movements like flexion and extension. Some of the reasons of why such machines exists are: better rehabilitation outcomes to lees workload of medical personnel. This works also describes the state of the art of mechanisms used of elbow rehabilitation such as exoskeletons, which all have some specifics disadvantages such as lack of portability. Then it describes the current research on cable driven rehabilitation robots (CADEL), using cables solves the problems arisen with the exoskeleton variants. This script also gives an in depth description of the hardware used and its mathematical models. Then this thesis gives a theoretical description of the control algorithms used for the project. After the theory behind the controllers, some Simulink simulations are reported before tacking the actual tests using the real motors. All the results are the commented exploiting the data gathered during the tests.