A novel approach for robot-assisted upper-limb rehabilitation
This study presented a novel control approach for rehabilitation robotic system using the hybrid system theory and the subject’s bio-damping and bio-stiffness parameters. Resistance training was selected as a paradigm. The proposed control architecture incorporated the physical therapist’s behavior...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2017-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881417736670 |
| _version_ | 1828471715144925184 |
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| author | Guozheng Xu Xiang Gao Sheng Chen Qiang Wang Bo Zhu Jinfei Li |
| author_facet | Guozheng Xu Xiang Gao Sheng Chen Qiang Wang Bo Zhu Jinfei Li |
| author_sort | Guozheng Xu |
| collection | DOAJ |
| description | This study presented a novel control approach for rehabilitation robotic system using the hybrid system theory and the subject’s bio-damping and bio-stiffness parameters. Resistance training was selected as a paradigm. The proposed control architecture incorporated the physical therapist’s behavior intervention, the stroke survivor’s muscle strength changes, and the robotic device’s motor control into a unified framework. The main focuses of this research were to (i) automatically monitor the subject’s muscle strength changes using the online identified bio-damping/stiffness parameters; (ii) make decisions on the modification of the desired resistive force so as to coincide with the subject’s muscle strength changes; and (iii) generate accommodating plans when the safety-related issues such as spasticity and the abnormal robotic working states happen during the execution of training tasks. A Barrett WAM compliant manipulator-based resistance training system and two experiments including four scenarios were developed to verify the proposed approach. Experimental results with healthy subjects showed that the hybrid system–based control architecture could administrate the subject’s muscle strength changes and the robotic device’s interventions in an automated and safe manner. |
| first_indexed | 2024-12-11T05:16:16Z |
| format | Article |
| id | doaj.art-12b35745f32948219cc9cd18026d3c64 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T05:16:16Z |
| publishDate | 2017-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-12b35745f32948219cc9cd18026d3c642022-12-22T01:19:48ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142017-11-011410.1177/1729881417736670A novel approach for robot-assisted upper-limb rehabilitationGuozheng Xu0Xiang Gao1Sheng Chen2Qiang Wang3Bo Zhu4Jinfei Li5 Robotics Information Sensing and Control Institute, Nanjing University of Posts and Telecommunications, Nanjing, China Robotics Information Sensing and Control Institute, Nanjing University of Posts and Telecommunications, Nanjing, China Robotics Information Sensing and Control Institute, Nanjing University of Posts and Telecommunications, Nanjing, China Robotics Information Sensing and Control Institute, Nanjing University of Posts and Telecommunications, Nanjing, China Robotics Information Sensing and Control Institute, Nanjing University of Posts and Telecommunications, Nanjing, China Department of Rehabilitation Medicine of Nanjing Tongren Hospital, Nanjing, ChinaThis study presented a novel control approach for rehabilitation robotic system using the hybrid system theory and the subject’s bio-damping and bio-stiffness parameters. Resistance training was selected as a paradigm. The proposed control architecture incorporated the physical therapist’s behavior intervention, the stroke survivor’s muscle strength changes, and the robotic device’s motor control into a unified framework. The main focuses of this research were to (i) automatically monitor the subject’s muscle strength changes using the online identified bio-damping/stiffness parameters; (ii) make decisions on the modification of the desired resistive force so as to coincide with the subject’s muscle strength changes; and (iii) generate accommodating plans when the safety-related issues such as spasticity and the abnormal robotic working states happen during the execution of training tasks. A Barrett WAM compliant manipulator-based resistance training system and two experiments including four scenarios were developed to verify the proposed approach. Experimental results with healthy subjects showed that the hybrid system–based control architecture could administrate the subject’s muscle strength changes and the robotic device’s interventions in an automated and safe manner.https://doi.org/10.1177/1729881417736670 |
| spellingShingle | Guozheng Xu Xiang Gao Sheng Chen Qiang Wang Bo Zhu Jinfei Li A novel approach for robot-assisted upper-limb rehabilitation International Journal of Advanced Robotic Systems |
| title | A novel approach for robot-assisted upper-limb rehabilitation |
| title_full | A novel approach for robot-assisted upper-limb rehabilitation |
| title_fullStr | A novel approach for robot-assisted upper-limb rehabilitation |
| title_full_unstemmed | A novel approach for robot-assisted upper-limb rehabilitation |
| title_short | A novel approach for robot-assisted upper-limb rehabilitation |
| title_sort | novel approach for robot assisted upper limb rehabilitation |
| url | https://doi.org/10.1177/1729881417736670 |
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