Integrating Motion Intention and Impedance Control in Teleoperated Robotic Rehabilitation for Upper Extremity Disorders

Abstract

Due to the global pandemic in 2020, rehabilitation services had to adapt to virtual care to meet the needs of patients with a diversity of upper extremity disorders and injuries, from simple fingertip injuries to replanted extremities, while mitigating the spread of COVID-19. For patients who require occupational therapy in their rehabilitation, teleoperated robotic care can fulfill this need. Moreover, some clinical studies show that incorporating the active intention of patients into rehabilitation training enhances the effectiveness of therapies. This research aims to develop a bilateral impedance controller with a Franka Emika 7DOF (degree-of-freedom) articulated robot using matlab, facilitating upper limb occupational therapy. Through this setup, the Franka robot will lead patients through various therapeutic exercises based on their motion intention, such as a pick-and-place exercise. The exercises' efficacy is assessed through evaluations of torque, muscle strength, and jerking performance. During patients' rehabilitation exercises with the Franka robot, we anticipate observing decreased muscle activity alongside a smooth, assist-as-needed (AAN) trajectory. This method will allow a patient to perform complex movements essential for daily activities quicker than traditional occupational therapy.