STATIC PERFORMANCE ANALYSIS OF THE TIAGO SOCIAL ROBOT FOR UPPER LIMB REHABILITATION

The use of collaborative robots in rehabilitation is gaining increasing attention due to their ability to provide repetitive, controlled, and assistive therapy for patients recovering from neurological injuries. However, understanding the force-generation capabilities of these robots is an essential step to assess their suitability for physical interaction tasks. This study presents a static force analysis of the TIAGo service robot by Pal Robotics, focusing on its redundant seven-degree-of-freedom (DOF) arm and its ability to apply forces at the end-effector in different joint configurations. By leveraging its redundancy, the robot can achieve a given Cartesian pose through multiple joint arrangements, each yielding distinct static performance characteristics. To evaluate these effects, force polytopes are computed across various workspace locations, illustrating how the feasible force range changes depending on joint configuration. The analysis further investigates the maximum and minimum force capabilities at the end-effector, providing insights into the effectiveness of different postures in assistive scenarios. As a preliminary study, this work does not yet account for gravitational effects, including the weight of the robotic arm and potential external loads, such as a patient’s limb. These factors could further constrain force capabilities and reduce the operational range. Future work will refine the model by integrating these considerations, contributing to a more comprehensive assessment of the TIAGo robot’s applicability in upper limb rehabilitation.