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The control of a rehabilitation robot for stroke should be designed to promote active participation of patients in the therapy process. This goal can be achieved by performance based assistance control to provide assistance only when needed and where it is needed. This control philosophy is implemented on Robot for Upper Extremity Repetitive Therapy (RUPERT), a wearable robotic exoskeleton powered...
Robot-assisted rehabilitation is an active area of research in the field of stroke rehabilitation. RUPERT is a wearable robotic exoskeleton powered by pneumatic muscle actuators. In this study, we described the structure of the controllers for the five degrees of freedom currently used by RUPERT. We applied the RUPERT on 6 stroke patients to provide robot-assisted rehabilitation therapy in a clinical...
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The...
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...
Intensive task-oriented repetitive physical therapies provided by individualized interaction between the patient and a rehabilitation specialist can improve hand motor performance in patients survived from stroke and traumatic brain injury. However, the therapy process is long and expensive and difficult to evaluate quantitatively and objectively. The goal of this research is to develop a novel wearable...
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...
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...
A brain-computer interface (BCI) system such as a cortically controlled robotic arm must have a capacity of adjusting its function to a specific environmental condition. We studied this capacity in non-human primates based on chronic multi-electrode recording from the primary motor cortex of a monkey during the animal's performance of a center-out 3D reaching task and adaptation to external force...
We report the development and initial evaluation of a device for robotic assisted upper extremity repetitive therapy (RUPERTtrade). Intense repetitive physical therapies provided by individualized interaction between the patient and a rehabilitation specialist to overcome upper extremity impairment after stroke are beneficial, however, they are expensive and difficult to evaluate quantitatively and...
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