Controlling a rehabilitation robot using intelligent control based on brain emotional learning

Due to the fact that patients lose their mobility due to a stroke or spinal cord injury, the physiotherapy process is essential, and due to the time-consuming and high cost of physiotherapy and improving the quality of treatment, rehabilitation robots are one of the various types of robots that are used in the treatment of disabilities.Since the patient's injured limb is completely at the disposal of the robot during the treatment, the robot must ensure the patient's safety and control the patient's involuntary and unpredictable movement .Therefore, controlling robots is an important and sensitive issue. In this treatise, rehabilitation robots of the external skeleton type (two-level planar robot) will be examined. The control strategy is a passive control type, and in its implementation, an intelligent controller based on emotional learning of the brain (BELBIC) has been used.One of the most important causes of disability of people in different societies is the disabilities caused by stroke and spinal cord injuries.According to the studies conducted, every year in America, about ۲۵۲,۲۲۲ people suffer from various types of strokes, especially brain strokes, of which about ۴۰۰,۰۰۰ people are saved from death and eventually suffer disability and paralysis of at least one or more body parts [۱].In the case of stroke patients, most of the disabilities are related to the movements and functions of the legs. According to the researches, rehabilitation treatments for semi-paralyzed people with spinal cord injuries require an average time between ۶ months and two years, and in many cases, evaluations and examinations and treatment should continue for many yearsIn this regard, today the use of robots with the ability to create an intelligent pattern suitable for each patient has received special attention.

کلیدواژه ها:

Rehabilitation robot ، Emotional Learning ، Exoskeleton ، BELBIC