Analysis of the Possibility of Using the UR10e Cobot in Neurological Treatment

Due to the increasing number of people requiring rehabilitation and an aging society, the need to streamline, improve, and, above all, increase the availability of rehabilitation has been identified. In the present study, research was conducted to evaluate the feasibility of adapting an industrial robot to assist in the rehabilitation process. The study included four measurement series, which consisted of ten repetitions of Proprioception Neuromuscular Facilitation (PNF) movements. The first two series were performed with the assistance of a physiotherapist, the next two with the support of the Cobot UR10e. The lower limb movement was analyzed using the Noraxon Ultium Motion system using inertial sensors (IMU). The study analyzed the following parameters: hip flexion and abduction angles; knee flexion and rotation angles; ankle dorsiflexion angle; and motion cycle. Based on the results, it can be seen that the robot reproduces physiotherapeutic movements more precisely and with greater repeatability. The robot reproduced the movements in the hip and knee joints very well. From the analysis, it can be concluded that with proper adaptation, the robot could be used in the rehabilitation process.