EMG-Based Control for Three-Dimensional Upper Limb Movement Assistance Using a Cable-Based Upper Limb Rehabilitation Robot

2017 ◽  
pp. 273-279
Author(s):  
Yao Huang ◽  
Ying Chen ◽  
Jie Niu ◽  
Rong Song
Keyword(s):  
Upper Limb ◽  
Three Dimensional ◽  
Limb Movement ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Design and Experimental Research of Upper Gravity-Supporting Device on the Upper Limb Rehabilitation Robot

2014 ◽  
Vol 678 ◽  
pp. 338-342
Author(s):  
Qi Zhi Yang ◽  
Jun Peng Song ◽  
Jin Hai Zhao ◽  
Zhi Huan Wang ◽  
Lin Qiang Guo
Keyword(s):  
Upper Limb ◽  
Three Dimensional ◽  
Rehabilitation Robot ◽  
Three Dimensional Model ◽  
Upper Limb Rehabilitation ◽  
Movement Mechanism ◽  
Limb Rehabilitation ◽  
Supporting Force ◽  
Driving Torque ◽  
Supporting Device

Due to the influence of robot arm’s and patient’s cantilever’s weight a drive motor with large drive torque was required in the design of upper-limb rehabilitation robot. In order to solve this problem, a new gravity-supporting system that combines gas spring and tension spring to provide supporting force was presented. Due to the use of this device in Upper Limb rehabilitation robot, the power and torque fluctuation of the driving motor can be reduced and the security and stability of robot can be increased. First of all, the movement mechanism was designed and the theoretical analysis is given to prove that it can reduce the driving torque of motor effectively. Three dimensional model of the device was created by Pro/E and was imported into ADAMS/view for the dynamic simulation and got the change curves of driving torque on the condition of the supporting device or not . In the end, the experimental data verify the application of the device that extreme driving torque of robot was decreased over 50%.

Upper-limb Rehabilitation Robot Based on Motor Imagery EEG

ROBOT ◽  
2011 ◽  
Vol 33 (3) ◽  
pp. 307-313 ◽  
Author(s):  
Baoguo XU ◽  
Si PENG ◽  
Aiguo SONG
Keyword(s):  
Motor Imagery ◽  
Upper Limb ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Upper-limb Rehabilitation Robot Motion Control Based on Dynamic Interpolation

ROBOT ◽  
2012 ◽  
Vol 34 (5) ◽  
pp. 539 ◽  
Author(s):  
Lizheng PAN ◽  
Aiguo SONG ◽  
Guozheng XU ◽  
Huijun LI ◽  
Baoguo XU
Keyword(s):  
Motion Control ◽  
Upper Limb ◽  
Robot Motion ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Kinematic dexterity analysis of human-robot interaction of an upper limb rehabilitation robot

2020 ◽  
pp. 1-17
Author(s):  
Qing Sun ◽  
Shuai Guo ◽  
Leigang Zhang
Keyword(s):  
Upper Limb ◽  
Constraint Equation ◽  
Human Robot Interaction ◽  
Rehabilitation Robot ◽  
Connecting Rod ◽  
Robot Interaction ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Training Trajectory

BACKGROUND: The definition of rehabilitation training trajectory is of great significance during rehabilitation training, and the dexterity of human-robot interaction motion provides a basis for selecting the trajectory of interaction motion. OBJECTIVE: Aimed at the kinematic dexterity of human-robot interaction, a velocity manipulability ellipsoid intersection volume (VMEIV) index is proposed for analysis, and the dexterity distribution cloud map is obtained with the human-robot cooperation space. METHOD: Firstly, the motion constraint equation of human-robot interaction is established, and the Jacobian matrix is obtained based on the speed of connecting rod. Then, the Monte Carlo method and the cell body segmentation method are used to obtain the collaborative space of human-robot interaction, and the VMEIV of human-robot interaction is solved in the cooperation space. Finally, taking the upper limb rehabilitation robot as the research object, the dexterity analysis of human-robot interaction is carried out by using the index of the approximate volume of the VMEIV. RESULTS: The results of the simulation and experiment have a certain consistency, which indicates that the VMEIV index is effective as an index of human-robot interaction kinematic dexterity. CONCLUSIONS: The VMEIV index can measure the kinematic dexterity of human-robot interaction, and provide a reference for the training trajectory selection of rehabilitation robot.

CONTROL OF FOREARM MODULE IN UPPER-LIMB REHABILITATION ROBOT FOR REDUCTION AND BIOMECHANICAL ASSESSMENT OF PRONATOR HYPERTONIA OF STROKE PATIENTS

2016 ◽  
Vol 16 (02) ◽  
pp. 1650008 ◽  
Author(s):  
PIN-CHENG KUNG ◽  
CHOU-CHING K. LIN ◽  
SHU-MIN CHEN ◽  
MING-SHAUNG JU
Keyword(s):  
Upper Limb ◽  
Position Control ◽  
Biomechanical Properties ◽  
Torque Control ◽  
Rehabilitation Robot ◽  
Stroke Patients ◽  
Upper Limb Rehabilitation ◽  
Biomechanical Assessment ◽  
Custom Made ◽  
Limb Rehabilitation

Spastic hypertonia causes loss of range of motion (ROM) and contractures in patients with post-stroke hemiparesis. The pronation/supination of the forearm is an essential functional movement in daily activities. We developed a special module for a shoulder-elbow rehabilitation robot for the reduction and biomechanical assessment of pronator/supinator hypertonia of the forearm. The module consisted of a rotational drum driven by an AC servo motor and equipped with an encoder and a custom-made torque sensor. By properly switching the control algorithm between position control and torque control, a hybrid controller able to mimic a therapist’s manual stretching movements was designed. Nine stroke patients were recruited to validate the functions of the module. The results showed that the affected forearms had significant increases in the ROM after five cycles of stretching. Both the passive ROM and the average stiffness were highly correlated to the spasticity of the forearm flexor muscles as measured using the Modified Ashworth Scale (MAS). With the custom-made module and controller, this upper-limb rehabilitation robot may be able to aid physical therapists to reduce hypertonia and quantify biomechanical properties of the muscles for forearm rotation in stroke patients.

Evaluation of the effect of upper limb rehabilitation robot on upper limb motor dysfunction after stroke

2021 ◽  
Author(s):  
Chaoyu Sun ◽  
Zhichao Wang ◽  
Xiaofeng Wang ◽  
Yang Liu ◽  
Bin Hu ◽  
...  
Keyword(s):  
Upper Limb ◽  
Motor Dysfunction ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation
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