A Fuzzy Logic Architecture for Rehabilitation Robotic Systems


  • Yassine Bouteraa University of Prince Sattam bin Abdulaziz University of Sfax https://orcid.org/0000-0001-8785-3513
  • Ismail Ben Abdallah University of Sfax
  • Ahmed ElMogy University of Prince Sattam bin Abdulaziz, Saudi Arabia
  • Atef Ibrahim Department of Computer Engineering, Prince Sattam Bin Abdulaziz University, KSA
  • Usman Tariq Department of Information Systems, Prince Sattam Bin Abdulaziz University, KSA
  • Tariq Ahmad Department of Information Systems, Prince Sattam Bin Abdulaziz University, KSA


Rehabilitation robotics, Fuzzy control, Internet of Things, vision-based gesture control


Robots are highly incorporated in rehabilitation in the last decade to compensate lost functions in disabled individuals. By controlling the rehabilitation robots from far, many benefits are achieved. These benefits include but not restricted to minimum hospital stays, decreasing cost, and increasing the level of care. The main goal of this work is to have an effective solution to take care of patients from far. Tackling the problem of the remote control of rehabilitation robots is undergoing and highly challenging. In this paper, a remote wrist rehabilitation system is presented. The developed system is a sophisticated robot ensuring the two wrist movements (Flexion /extension and abduction/adduction). Additionally, the proposed system provides a software interface enabling the physiotherapists to control the rehabilitation process remotely. The patient’s safety during the therapy is achieved through the integration of a fuzzy controller in the system control architecture. The fuzzy controller is employed to control the robot action according to the pain felt by the patient. By using fuzzy logic approach, the system can adapt effectively according to the patients’ conditions. The Queue Telemetry Transport Protocol (MQTT) is considered to overcome the latency during the human robot interaction. Based on a Kinect camera, the control technique is made gestural. The physiotherapist gestures are detected and transmitted to the software interface to be processed and be sent to the robot. The acquired measurements are recorded in a database that can be used later to monitor patient progress during the treatment protocol. The obtained experimental results show the effectiveness of the developed remote rehabilitation system.

Author Biographies

Yassine Bouteraa, University of Prince Sattam bin Abdulaziz University of Sfax

Yassine Bouteraa received the National Engineering Degree in Electrical Engineering from the National School of Engineers of Sfax in June 2006, the Master of science degree in control and computer science in 2007. He obtained a PhD from the University of Orleans (France) and the University of Sfax (Tunisia) and then a HDR (accreditation to supervise research) in both Electrical and Computer Engineering in 2012 and 2017 respectively. His interest concerns robotics, embedded systems and real time implementation. He is the author/co-author of more than 50 scientific papers. He is reviewer in some indexed journals and TPC member of some internationals conferences.

Ismail Ben Abdallah, University of Sfax

Ismail Ben Abdallah received the B.Sc. degree in electrical engineering from the National Engineering School of Gabes, Tunisia, in 2013, and the Ph.D in electrical engineering from the National Engineering School of Sfax, Tunisia, in 2017. His research interests are focused on design and control of robotic exoskeleton devices.

Ahmed ElMogy, University of Prince Sattam bin Abdulaziz, Saudi Arabia

Ahmed M. Elmogy received the B.SC. degree and the M.Sc. degree in Computers & Control Engineering from Tanta Univ., Egypt, in 1998 and 2003, respectively, and the Ph.D. in Electrical and Computer Engineering, in 2010, from the University of Waterloo, Canada. His research interests include Multi-robot Systems, Intelligent Systems Design, Surveillance Systems, Data Mining.A


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