Abstract
The last few years have seen significant advances in neuromotor rehabilitation technologies, such as robotics and virtual reality. Rehabilitation robotics primarily focuses on devices, control strategies, scenarios and protocols aimed at recovering sensory, motor and cognitive impairments often experienced by stroke victims. Remote rehabilitation can be adopted to relieve stress in healthcare facilities by limiting the movement of patients to clinics, mainly in the current COVID-19 pandemic. In this context, we have developed a remote controlled intelligent robot for elbow rehabilitation. The proposed system offers real-time monitoring and ultimately provides an electronic health record (EHR). Rehabilitation is an area of medical practice that treats patients with pain. However, this pain can prevent a person from positively interacting with therapy. To cope with this matter, the proposed solution incorporates a cascading fuzzy decision system to estimate patient pain. Indeed, as a safety measure, when the pain exceeds a certain threshold, the robot must stop the action even if the desired angle has not yet been reached. A fusion of sensors incorporating an electromyography (EMG) signal, feedback from the current sensor and feedback from the position encoder provides the fuzzy controller with the data needed to estimate pain. This measured pain is fed back into the control loop and processed to generate safe robot actions. The main contribution was to integrate vision-based gesture control, a cascade fuzzy logic-based decision system and IoT (Internet of Things) to help therapists remotely take care of patients efficiently and reliably. Tests carried out on three different subjects showed encouraging results.