A Kind of Motor-Function Evaluation Method for Upper-Limb Rehabilitation Robot

2012 ◽  
pp. 229-235
Author(s):  
Li Xing ◽  
Wang Jianhui ◽  
Fang Xiaoke
Keyword(s):  
Motor Function ◽  
Upper Limb ◽  
Evaluation Method ◽  
Function Evaluation ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

The Study on Motor-Function Evaluation of Upper-Limb Rehabilitation Robot Based on AHP

2011 ◽  
Vol 121-126 ◽  
pp. 2382-2386
Author(s):  
Xing Li ◽  
Jian Hui Wang ◽  
Yan Zheng ◽  
Shu Sheng Gu
Keyword(s):  
Motor Function ◽  
Upper Limb ◽  
Evaluation Method ◽  
Evaluation Model ◽  
Rehabilitation Medicine ◽  
Function Evaluation ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Organic Combination ◽  
Limb Rehabilitation

To solve the problem of real-time, quantification monitor on the restoration of motor function in hemiplegia after stroke, this paper proposed motor-function evaluation content for 5-DOF upper-limb rehabilitation robot based on traditional motor-function evaluation method, and then it constituted judgment matrix and calculated weights by Analytical Hierarchy Process, finally, established a synthetical evaluation model of motor function for upper-limb rehabilitation robot. This paper is the organic combination of operational research, rehabilitation medicine and robotics. Compare with traditional motor-function evaluation method, the new evaluation method is so simply and flexible that it greatly increases the reliability, validity and feasibility of evaluation, which has changed traditional evaluation methods into mathematical process. It is the new orientation in motor-function evaluation.

A SYSTEM FOR UPPER LIMB REHABILITATION AND MOTOR FUNCTION EVALUATION

2015 ◽  
Vol 15 (01) ◽  
pp. 1550010 ◽  
Author(s):  
HAILONG YU ◽  
LE XIE ◽  
CHAO LV ◽  
WEI SHAO ◽  
YUAN WANG ◽  
...  
Keyword(s):  
Upper Extremity ◽  
Motor Function ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Function Evaluation ◽  
Upper Limb Rehabilitation ◽  
Paretic Limb ◽  
Wolf Motor Function Test ◽  
Passive Exoskeleton ◽  
Limb Rehabilitation

In the conventional upper-limb rehabilitation process, patients have to be relying on therapists to do the exercise and assessments. Using robotic rehabilitation devices, patients can practice independently and intensively with their upper paretic limb. In this study, we hypothesized that a multi-DOF passive mechanism coupled with multi-DOF 3D sensory feedback could provide: (1) safe and nature active exercise; (2) various combinations of degrees of freedom (DOF) for the training of different specific joints; (3) the possibility to realize ideal trajectory. In order to test the hypothesis, we designed a seven-DOF passive exoskeleton-based system for the upper extremity, integrated with virtual reality (VR) technology based 3D feedback. An experiment was done on six healthy subjects and three subjects with upper-limb impairment. All subjects did not experience any problems when handling the device during the intervention. Moreover, Fugl–Meyer Score of the upper extremity Assessment (FMA) scale showed that the three patients have increased the score by 19, 23 and 14, respectively. Wolf Motor Function Test (WMFT) scale showed that the three patients have increased their scores by 22, 22 and 14, respectively.

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.

Sign in / Sign up

Export Citation Format

Share Document