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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...
Rehabilitation robot is a type of assistant recovery equipment designed particularly for the sick people having difficulty in walking to get gait rehabilitation training, the research on joint flexibility is of great significance for the program making of walking gait control. The three closed-loops PID control method was proposed for the lower-limb rehabilitation robot MACCEPA (mechanically adjustable...
Rehabilitation Robot is a typical man-machine cooperation robot, which can drive the affected limbs to carry out various motor function recovery trainings within the same workspace of patients. To ensure the safety and comfort of the affected limbs during the training process, the system controller is designed based on the impedance control principle, thus the controller can make the robot has a certain...
Quantitative evaluation for estimating motor function is a prerequisite for clinical application of rehabilitation robot. The current clinical evaluations, such as Fugl-Meyer assessment, still have some deficiency. The study provided an innovative evaluation method, which contrasted the physiological character of impaired limb with the contralateral upper limb of post stroke hemiplegic patients, and...
This paper proposes an obstacle-avoidance algorithm which can be applied to omnidirectional Lower Limbs Rehabilitation Robot. The method generates the attribute of obstacle scene using detected angle information of obstacle boundary, and fuzzy matching with the obstacle scene knowledgebase to realize the obstacle-avoidance control of robot. The implementation of fuzzy matching depends on fuzzy neural...
Robotic-assisted therapy is of benefit to the recovery of upper limb motor function for the patients survived stoke. Whereas, there are few emphases on the patients' motion intention during the rehabilitation process. The goal of this study is to combine the control strategies based on patients' motion intention with an upper limb rehabilitation robot to improve the recovery for the patients. In this...
This paper mainly focuses on the trajectory tracking control of a lower extremity rehabilitation robot during passive training process of patients. Firstly, a mathematical model of the rehabilitation robot is introduced by using Lagrangian analysis. Then, a model based computed-torque control scheme is designed to control the constrained four-link robot (with patient's foot fixed on robot's end-effector)...
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...
A new rehabilitation and fitness robot called the ??Lambda Robot?? is presented. This paper introduces a concept of a parallel robot that may be used for mobilization of the lower extremities. Hence, it may be used for fitness as well as for rehabilitation for people out of coma, after a surgical operation or for paraplegics. The kinematics and the construction aspects of the twice three degrees of...
Human robot interaction is a new and rapidly growing field and its application in the realm of rehabilitation and physical care is a major focus area of research worldwide. This paper discusses the development and implementation of a wireless motion capture system for the human arm which can be used for physical therapy or real-time control of a robotic arm, among many other potential applications...
In this paper, a novel inverse dynamic MIMO NARX model is used for modeling and identifying simultaneously both of joints of the prototype 2-axes PAM robot arm. The contact force variations and highly nonlinear coupling features of both links of the 2-axes PAM system are modeled thoroughly through an inverse neural MIMO NARX model-based identification process using experiment input-output training...
Rehabilitation robots that are used to assist patients should be able to move naturally and cause no discomfort to the patients. In this study, a self-aided manipulator system that can generate natural motion and assist bed-ridden patients has been developed. The self-aided manipulator is designed so that it can grasp a glass of water from a side table for the patient. The system can detect the starting...
In this paper, we present the dynamics, control, and preliminary experiments on a wearable upper arm exoskeleton intended for human users with four degrees-of-freedom (dof), driven by six cables. The control of this cable-driven exoskeleton is complicated because the cables can transmit forces to the arm only under tension. The standard PD controllers or computed torque controllers perform only moderately...
For haptic devices, compensation of the robot's gravity is a frequent strategy with the aim to reduce interaction forces between robot and human in zero-impedance control. However, a closer look at the composition of these interaction forces may reveal that the net effect of uncompensated gravitational components of the robot actually reduces interaction forces during dynamic movements, because inertial...
This work proposes a mechatronic solution to increase the backdrivability of a rehabilitation robot in order to cope with intrinsic kinematic constraints which are adopted by the human brain to solve redundancy in motor tasks. In order to reduce the interaction force between the user and the robot and ensure the robot to follow subjects movements a pure force control algorithm has been adopted. The...
Many kinds of robot, such as humanoid, entertainment, and medical robots have been developed all over the world. Especially, an assistive and rehabilitation robots for the elder and disable people have been expected as one of the most important application of the neural engineering. In this plenary talk, Prof. Fujie introduces state of the art and current state on the assistive and rehabilitation...
Interaction control is an important aspect in rehabilitation robots to ensure system safety and allow effective rehabilitation. Due to the significant variability of human limb and joint characteristics, adaptability in the interaction controller is vital for enabling the adjustment of robot behavior to better suit the patient's requirements. A parallel manipulator has been developed for ankle rehabilitation...
For central nervous system (CNS) impaired patients, e.g. after stroke, the achievement of an independent, stable gait function and endurance in walking is essential for independent mobility in daily life. Modern concepts of rehabilitation favor a task specific repetitive training, that facilitates natural motion and muscle activation patterns, i.e. in addition to commonly practiced floor walking other...
The demand for rehabilitation robots is increasing for the upcoming aging society. Power-assisting devices are considered promising for enhancing the mobility of elderly and disabled people. Other potential applications are for muscle rehabilitation and sports training. The main focus of this paper is to control the load of selected muscles by using a power-assisting device, thus enabling ldquopinpointedrdquo...
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