Influence of Friction Forces and Gravity on the Quality of Movement in the MWR Rehabilitation Supporting Device
Recovering from upper limb injuries is very important because having limited functionality affects everyday tasks. Rehabilitation supporting systems significantly impact the results; however, it is important to ensure that they are safe and accurate. This study addressed friction forces and gravity...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/10/5409 |
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| Summary: | Recovering from upper limb injuries is very important because having limited functionality affects everyday tasks. Rehabilitation supporting systems significantly impact the results; however, it is important to ensure that they are safe and accurate. This study addressed friction forces and gravity on the movement quality of a mechatronic rehabilitation device (MWR) for the upper limb. At first, an experimental analysis was conducted to quantify the active torque required to maintain specific angular positions. The results revealed the significant impact of the mass of mechanical components and friction between moving parts on the device’s movement quality. To address these issues, friction and gravity compensation functions were derived empirically and integrated into the control system’s algorithm. Implementing these compensation functions resulted in a substantial improvement in movement quality, as demonstrated by a reduction of over 50% in the integral of the absolute position error. These results underscore the importance of physical constraints in the control design of rehabilitation devices and provide a foundation for developing adaptive rehabilitation technologies that enhance therapeutic outcomes. |
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| ISSN: | 2076-3417 |