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One of the useful features of robotic rehabilitation is the possibility of movement quantification, which is currently lacking in conventional rehabilitation therapy. Movement performance measures calculated from this quantitative information serves various purposes - (a) a good supplement to clinical assessment measures, (b) can be more sensitive than many clinical measures which use ordinal scales...
An adaptive robot control strategy combining PID-based feedback and Iterative Learning Controller (ILC) is proposed for performing passive reaching tasks for RUPERTtrade (Robotic Upper Extremity Repetitive Therapy), a pneumatic muscle driven rehabilitation robotic device. Additionally, a fuzzy rule-base is used to estimate the ILC learning rate to achieve an optimized learning. The preliminary test...
The design of a wearable upper extremity therapy robot RUPERT IVtrade (Robotic Upper Extremity Repetitive Trainer) device is presented. It is designed to assist in repetitive therapy tasks related to activities of daily living which has been advocated for being more effective for functional recovery. RUPERTtrade has five actuated degrees of freedom driven by compliant and safe pneumatic muscle actuators...
With over 600,000 people each year surviving a stroke, it has become the leading cause of serious long-term disability in the United States [1, 2, 3]. Studies have proven that through repetitive task training, neural circuits can be re-mapped thus increasing the mobility of the patient [4, 5, 6, 7, 8]. This fuels the emerging field of rehabilitation robotics. As technology advances new therapy robots...
The structural design, control system, and integrated biofeedback for a wearable exoskeletal robot for upper extremity stroke rehabilitation are presented. Assisted with clinical evaluation, designers, engineers, and scientists have built a device for robotic assisted upper extremity repetitive therapy (RUPERT). Intense, repetitive physical rehabilitation has been shown to be beneficial overcoming...
Robot-assisted therapy has shown potential in neuromotor rehabilitation. A therapeutic robot driven by pneumatic muscle actuators has been developed in our research group. However, the design of fine and real-time feedback robot control is a challenge. One of the difficulties is the lack of a general dynamic model of the pneumatic muscle actuator. In this study, a phenomenological model has been developed...
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