Topic: Collaborative Research Projects Title Control strategies for a mechatronic device for elbow rehabilitation.

Authors Carlo A. Seneci, Davide Fausti, Luciano Bissolotti, Marco Ometto, Giovanni Legnani Institution Department of Mechanical and Industrial Engineering, Brescia University; Polibrixia srl, Brescia; Domus Salutis, Brescia. Key words Elbow, Rehabilitation, Continuous Passive Motion, Active motion Introduction From the literature we know the advantages of using automatic devices for the rehabilitation, like the possibility to get objective information about the therapy and the opportunity of planning the therapy directly on the patients needs [1]. In this context, the aim of this study was the design and the realization of a programmable controller for active and passive motion with a mechatronic device for elbow rehabilitation. Material and method The first step was to define the functionalities to be implemented in the control software of the device. The aim was the realization of a flexible control system with five different functioning modes. The first one is a passive motion, at constant speed, between two different flexion-extension angular positions which define the range of motion (R.O.M.). This movement is repeated for a number of cycles defined by the user. The second mode is a pyramidal structured passive motion: the R.O.M. is incremented at each cycle, until it reaches the maximum value defined by the user. The third and the fourth modes implement the active rehabilitation strategy, respectively the active-assisted and the active-opposed. The level of activation is programmable. In these operational modes the device motion is commanded by measuring the force exchanged between the patients arm and the robotic link. Finally the last mode implements an auto-learning procedure, in which the therapist manually moves the mechanical link, along a desired trajectory, and the mechatronic device memorizes and repeats it. Result A first prototype has been constructed and is under preliminary test. The robotic device operates according to the specifications. A graphical interface let the user to program the device in an easy and convenient way, using just few parameters to set the operational mode.

Conclusion The proposed objectives have been reached, the preliminary tests have been performed and (after the achievement of the CE conformity) the device is ready for the clinical tests. Bibliography [1] [2] Salter, R. B., Continuous Passive Motion (CPM), Wiliams & Wilkins, ISBN 0683074970, 9780683074970, (1993). P.Dario, S.Martinoia,G.Rizzolatti, G.Sandini, Gruppo Nazionale di Bioingegneria, NEUROROBOTICA neuroscienze e robotica per lo sviluppo di macchine intelligenti, Ptron editore, 2006.