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Numerous rehabilitation robots have been developed to deliver therapy for hemiplegic patients with a unilateral-disabled limb or for aged persons with motor-function degenerated limbs. Recently, much attention has been paid to the development of robots that support bilateral arm training in various patterns. It has been proved that the coordination of two limbs can reduce hypertonia and abnormal synergies...
The number of hemiplegic patients with a unilateral-disabled limb has been increasing globally, this stimulate the development of rehabilitation robots that assist patients in motor function recovery and strength enhancement. However, as yet, few robots have achieved self-controlled rehabilitation training, and force feedback is generally realized with force sensors. This paper introduces a self-controlled...
This paper studies the use of functional electrical stimulation (FES) method with movement in patients with paraplegia (SCI) for rehabilitation. When FES is applied to the muscles in patients with certain frequency and amplitude of electrical stimulation, the stimulated muscles generate contraction strength. The use of FES can effectively prevent muscle atrophy in patients with paraplegia, and produce...
In this paper the trajectory tracking control of the arm rehabilitation robot for stroke patients is investigated by an interactive robust control approach. The functions of patients' voluntary joint torques are designed depending on the motion ability of their arms, and the dynamic model of the human-robot system is presented. Based on the dynamic model, an interactive controller is designed to provide...
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