Abstract
This paper presents a new design of a robot elbow rehabilitation: Wireless Remote Control Arm exoskeleton (WRCAE). The robot is designed for the upper limb therapy. The developed system is an exoskeleton with two degrees of freedom that can be used for the treatment, evaluation and reinforcement. The exoskeleton actuates the bothmovements: flexion/extension for the elbowand pronation/supination for the forearm. Angles limits (max and min) should be introduced by the physiotherapist through a Human-Machine Interface (HMI). Desired angles of the both movements (elbow flexion/extension or forearm pronation/supination) are sent remotely via the ZigBee protocol (xbee-pro communication). A kinematic model has been developed based on Denavit-Hartenberg approach to make first tests. A sliding mode robust law control has been implemented. A kinect camera was built to detect different measures of flexion/extension and send feedback to the controller. The Lyapunov-based approach has been used to establish the system asymptotic stability. Experimental results are provided to demonstrate performances of the developed robot of upper limb remote rehabilitation.