Assistive Control System for Upper Limb Rehabilitation Robot

被引：76

作者：

Chen, Sung-Hua ^{[1
]}

Lien, Wei-Ming ^{[1
]}

Wang, Wei-Wen ^{[1
]}

Lee, Guan-De ^{[1
]}

Hsu, Li-Chun ^{[1
]}

Lee, Kai-Wen ^{[1
]}

Lin, Sheng-Yen ^{[1
]}

Lin, Chia-Hsun ^{[1
]}

Fu, Li-Chen ^{[1
,2
]}

Lai, Jin-Shin ^{[3
,4
]}

Luh, Jer-Junn ^{[3
,4
]}

Chen, Wen-Shiang ^{[3
,4
]}

机构：

[1] Natl Taiwan Univ, Dept Elect Engn, Taipei 10617, Taiwan

[2] Natl Taiwan Univ, Dept Comp Sci & Informat Engn, Taipei 10617, Taiwan

[3] Natl Taiwan Univ, Dept Phys Med & Rehabil, Taipei 10617, Taiwan

[4] NTU Hosp, Taipei 10617, Taiwan

来源：

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING | 2016年 / 24卷 / 11期

关键词：

Assistive control; exoskeleton; rehabilitation robotics; upper extremity; ARM; STROKE;

D O I：

10.1109/TNSRE.2016.2532478

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

This paper presents an assistive control system with a special kinematic structure of an upper limb rehabilitation robot embedded with force/torque sensors. A dynamic human model integrated with sensing torque is used to simulate human interaction under three rehabilitation modes: active mode, assistive mode, and passive mode. The hereby proposed rehabilitation robot, called NTUH-ARM, provides 7 degree-of-freedom (DOF) motion and runs subject to an inherent mapping between the 7 DOFs of the robot arm and the 4 DOFs of the human arm. The Lyapunov theory is used to analyze the stability of the proposed controller design. Clinical trials have been conducted with six patients, one of which acts as a control. The results of these experiments are positive and STREAM assessment by physical therapists also reveals promising results.

引用

页码：1199 / 1209

页数：11

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