An optimisation problem for exoskeleton-aided functional rehabilitation of an upper extremity

Abstract

Abstract With pandemics, a problem of non-guaranteed constant access to rehabilitation aroused. As civilisation diseases attack a significant share of the population, providing motor treatment seems to be one of the biggest challenges towards the healthcare system of the future. While taking into account the severe level of disabilities and unexpected circumstances, the trainings may require being held in a house of a patient. Moreover, due to emergencies, a physiotherapist may not be able to participate in it personally. Thus, to mitigate the repercussions of such situations, advanced mechatronic systems for remote-home-rehabilitation have to be developed. Moreover, surveyed physiotherapists, claim that function-oriented training, robot aid, remote treatment and home therapy are the leading trends for rehabilitation of the future. Combining these is relatively difficult, as automated robotic rehabilitation requires an advanced control system. As to partially support motion along the pre-programmed trails, an optimisation problem needs to be solved. Not only to follow the trail transitionally but also to control a tilt of a gripped object and to avoid immediate large changes of velocities and accelerations if not necessary. This paper presents an approach towards an optimisation problem based on an exoskeleton of three driven and two free degrees of freedom. Simulated function-oriented training consists of diverse typical motions, such as drinking, eating, writing, steering a control wheel, lifting a bag from the ground, and lifting an object onto a shelf. Based on these, an optimisation problem is formulated. Works presented in the paper are an integral part of a planned long-term research on a home-remote-rehabilitation with a use of an exoskeleton.