Rehabilitation Device Construction based on Artificial Muscle Actuators

Kamil Židek, Ján Pitel, Alena Galajdová, and Marek Fodor


rehabilitation, rehabilitation devices, artificial muscles


This paper deals with an analysis of construction based on artificial muscles of rehabilitation device for the upper limb. Rehabilitation process and automation principle in rehabilitation devices are explained at the beginning. The basic set of exercises is selected as input for construction dimensions and range of movements in every joint. The construction should be created for patients with loss or reduction of upper limb function of muscle or bones. Presented automated rehabilitation device has three degrees of freedom: 2 DOF in arm and 1 DOF in elbow. This construction will provide almost all basic rehabilitation exercises for upper human limb without wrist rehabilitation. The automated rehabilitation device is based on artificial pneumatics muscles. Three variants of device are introduced: in connection with spring, opposite spring and antagonistic connection. There is created 3D model and kinematics simulation in one joint and complex movement for chosen variant. This system will provide lifting and descending of arm based on patient force. The results of kinematics simulation will be used for control system design. Realized construction must be linked to computer with appropriate software, to make an accurate control of exercises and progress feedback.

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