- robotics (188)
- upper limb (274)
Feasibility of the UR5 Industrial Robot for Robotic Rehabilitation of the Upper Limbs After Stroke
Erik Kyrkjebø
1
, Mads Johan Laastad
2
, Øyvind Stavdahl
3
Abstract
— Robot-assisted therapy is an emerging form of
rehabilitation treatment for motor recovery of the upper limbs
after neurological injuries such as stroke or spinal cord injury.
Robotic rehabilitation devices have the potential to reduce the
physical strain put on therapists due to the high-effort one-
to-one interactions between the therapist and patient involv-
ing repetitive high-intensity movements to restore arm and
hand functions. Numerous custom robotic devices have been
developed in recent years to aid in physical rehabilitation
of stroke patients, but most commercially available systems
are high-cost devices because of low production volumes and
high development costs. In this paper, we analyse the safety
and functionality of the UR5 collaborative industrial robot
from Universal Robots equipped with an external force/torque
sensor in a real-time control system for typical rehabilitation
exercises. The aim of the paper is to show that a new class
of general-purpose industrial robots designed for human-robot
collaboration may prove a viable alternative to custom designs.
Experiments show that robotic rehabilitation of the upper
limbs using a standard industrial robot manipulator UR5
may be feasible. Results have the potential to reduce costs
and complexity for robotic rehabilitation devices, and thus
make robotic rehabilitation more affordable as a high-quality
therapeutic treatment for more patients.
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