Research on the Control Method of a Rehabilitation Exoskeleton Robot for Passive Training on Upper-Limbs of Stroke Patients

2018 ◽  
Author(s):  
Zhirui Zhao ◽  
Xing Li ◽  
Lina Hao
Keyword(s):  
Control Method ◽  
Upper Limbs ◽  
Stroke Patients ◽  
Exoskeleton Robot ◽  
Passive Training

Trajectory following control of lower limb exoskeleton robot based on Udwadia–Kalaba theory

2021 ◽  
pp. 107754632110317
Author(s):  
Jin Tian ◽  
Liang Yuan ◽  
Wendong Xiao ◽  
Teng Ran ◽  
Li He
Keyword(s):  
Lower Limb ◽  
Control Method ◽  
Uniform Boundedness ◽  
Adaptive Robust Control ◽  
Structural Vibration ◽  
Control Approach ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Constraint Problem ◽  
Trajectory Following

The main objective of this article is to solve the trajectory following problem for lower limb exoskeleton robot by using a novel adaptive robust control method. The uncertainties are considered in lower limb exoskeleton robot system which include initial condition offset, joint resistance, structural vibration, and environmental interferences. They are time-varying and have unknown boundaries. We express the trajectory following problem as a servo constraint problem. In contrast to conventional control methods, Udwadia–Kalaba theory does not make any linearization or approximations. Udwadia–Kalaba theory is adopted to derive the closed-form constrained equation of motion and design the proposed control. We also put forward an adaptive law as a performance index whose type is leakage. The proposed control approach ensures the uniform boundedness and uniform ultimate boundedness of the lower limb exoskeleton robot which are demonstrated via the Lyapunov method. Finally, simulation results have shown the tracking effect of the approach presented in this article.

Abstract TP380: Significant Factors of Early Independent Gait in Acute Ischemic Stroke Patients

Stroke ◽  
2020 ◽  
Vol 51 (Suppl_1) ◽  
Author(s):  
Yuna Hosaka ◽  
Takahisa Mori ◽  
Yuki Sawada
Keyword(s):  
Ischemic Stroke ◽  
Acute Stroke ◽  
Acute Ischemic Stroke ◽  
Mmse Score ◽  
Lower Limbs ◽  
Upper Limbs ◽  
Stroke Patients ◽  
Trunk Control ◽  
Stroke Subtypes ◽  
Significant Factors

Introduction: Acute stroke patients have problems with gait disturbance. Independent gait in hospitalized patients is important for early discharge to home. Therefore, we must find factors of disturbing independent gait following acute stroke and intensively treat them. Hypothesis: Impaired trunk control and cognitive function are factors of disturbing early independent gait. Methods: We included acute ischemic stroke patients who were admitted in our hospital from June 2017 to May 2018 and excluded patients with disturbed level of consciousness. We defined a score of 6 (modified Independence) or 7 (complete independence) in the Functional Independence Measure (FIM) as gait independence. We evaluated association of stroke subtypes, Brunnstrom recovery stage (BRS) of upper limbs, fingers and lower limbs, trunk control test (TCT) score and Mini-Mental State Examination (MMSE) score with early gait independence on the 7th day of a stroke onset. Results: One hundred twenty- six patients met our inclusive criteria and we analyzed them. Stroke subtypes had no relation to early gait independence. In gait independent and dependent patients on the 7th day, median BRS score of upper limbs was 5 and 5 (ns), median BRS score of fingers was 5 and5 (ns), median BRS score of lower limbs was 6 and 5 (p<0.01), TCT score was 100and 75 (p<0.01) and MMSE score was 28.5 and 24.5 (p<0.01), respectively. Multiple logistic regression analysis that TCT (p<0.01) and BRS lower limbs (p<0.01) were independent factors for early independent gat. Receiver operating characteristic curve (ROC) for early gait independence demonstrated that cut-off values of TCT score and BRS of lower limbs and were 100 and 5. Conclusions: Impaired trunk control and muscle weakness of lower limbs were significant factors of disturbing early gait independence.

scholarly journals Applications of Robotics to Assessment and Physical Therapy of Upper Limbs of Stroke Patients

10.5772/5164 ◽  
2007 ◽  
Author(s):  
M.-S. Ju ◽  
C.-C. K. ◽  
S.-M. Chen ◽  
I.-S. Hwang ◽  
P.-C. Kung ◽  
...  
Keyword(s):  
Physical Therapy ◽  
Upper Limbs ◽  
Stroke Patients

Motion and force control method of 7-DOF cable-driven rehabilitation exoskeleton robot

2018 ◽  
Vol 38 (5) ◽  
pp. 595-605 ◽  
Author(s):  
Wencheng Ni ◽  
Hui Li ◽  
Zhihong Jiang ◽  
Bainan Zhang ◽  
Qiang Huang
Keyword(s):  
Design Methodology ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Body Measurements ◽  
Joint Movement ◽  
Content Type ◽  
Rehabilitation Training ◽  
Exoskeleton Robot ◽  
Training Mode ◽  
Active Rehabilitation

Purpose The purpose of this paper is to design an exoskeleton robot and present a corresponding rehabilitation training method for patients in different rehabilitation stages. Design/methodology/approach This paper presents a lightweight seven-degrees-of-freedom (DOF) cable-driven exoskeleton robot that is wearable and adjustable. After decoupling joint movement caused by a cable-driven mechanism, active rehabilitation training mode and passive rehabilitation training mode are proposed to improve the effect of rehabilitation training. Findings Simulations and experiments have been carried out, and the results validated the feasibility of the proposed mechanism and methods by a fine rehabilitative effect with different persons. Originality/value This paper designed a 7-DOF cable-driven exoskeleton robot that is suitable for patients of different body measurements and proposed the active rehabilitation training mode and passive rehabilitation training mode based on the cable-driven exoskeleton robot.

scholarly journals Motion Detection Enhanced Control of an Upper Limb Exoskeleton Robot for Rehabilitation Training

2017 ◽  
Vol 14 (01) ◽  
pp. 1650031 ◽  
Author(s):  
Wenjun Ye ◽  
Zhijun Li ◽  
Chenguang Yang ◽  
Fei Chen ◽  
Chun-Yi Su
Keyword(s):  
Motion Detection ◽  
Detection Method ◽  
Control Method ◽  
Control Design ◽  
Training Process ◽  
User Intention ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Control Scheme ◽  
Adaptive Control Scheme

The paper studies the control design of an exoskeleton robot based on electromyography (EMG). An EMG-based motion detection method is proposed to trigger the rehabilitation assistance according to user intention. An adaptive control scheme that compensates for the exoskeleton's dynamics is employed, and it is able to provide assistance tailored to the human user, who is supposed to participate actively in the training process. The experiment results verify the effectiveness of the control method developed in this paper.

scholarly journals Evaluating the Effects of Botulinum Toxin Injection and Physiotherapy on Post-Stroke Patients During One Year Observation - a Pilot Study

2021 ◽  
Vol 25 (3) ◽  
Author(s):  
Zuzanna Olszewska ◽  
Elżbieta Mirek ◽  
Kinga Opoka-Kubica ◽  
Szymon Pasiut Szymon Pasiut ◽  
Magdalena Filip
Keyword(s):  
Botulinum Toxin ◽  
Pilot Study ◽  
Combination Therapy ◽  
Upper Limb ◽  
Muscle Tone ◽  
Statistical Significance ◽  
Botulinum Toxin Injection ◽  
Upper Limbs ◽  
Stroke Patients ◽  
Post Stroke

Introduction: Stroke is a serious health problem in the modern population. Spasticity is one of the consequences of stroke and affects about 30% of people. Increased muscle tone affects postural control disorders. Due to the specificity of spasticity, therapy in post-stroke patients is a challenge for neurological physiotherapy. Therefore, it requires the development of appropriate management standards . Study aim: The aim of the study was to evaluate the effectiveness of 3 combination therapy cycles based on botulinum toxin injection and physiotherapy for muscle tone, muscle strength and postural stability in post-stroke patients qualified for the spasticity treatment programme of the lower and upper limbs. Material and methods: The pilot study involved 12 patients (6 from the lower limb and 6 from the upper limb programme). The 1-year combination therapy programmes included 3 botulinum toxin injections and 3 weeks of physiotherapy after each injection. Clinical evaluation was conducted before and after the 1-year observation cycle. The results were evaluated using: MAS (Modified Ashworth Scale), MRC (Medical Research Council Scale) and posture stability test on a balance platform (BiodexSD). Results: A decrease was observed in muscle tone of the lower and upper limbs, as well as an increase in muscular strength of the upper limb. However, there were no noted statistical significance of the studied parameters. Conclusions: Physiotherapy in combination with the botulinum toxin is an important element of improvement in post-stroke patients. However, further research is needed to explicitly confirm its effectiveness.

scholarly journals Wrist Actimetry Biomarker Development of Paretic Upper Limb Use in Post Stroke Patients for Ecological Monitoring.

2021 ◽  
Author(s):  
Gilles Dusfour ◽  
Denis Mottet ◽  
Makii Muthalib ◽  
Isabelle Laffont ◽  
Karima K.A. Bakhti
Keyword(s):  
Home Environment ◽  
Upper Limb ◽  
Healthy Subjects ◽  
Limiting Factors ◽  
Cumulative Probability ◽  
Limiting Factor ◽  
Upper Limbs ◽  
Stroke Patients ◽  
Post Stroke ◽  
Paretic Side

Abstract Background In post-stroke patients it is unclear which wrist actimetry biomarkers to use to estimate the degree of upper limb hemiparesis. The objective of this study was to develop a general and objective framework for monitoring hemiparetic patients in their home environment via different biomarkers based on 7 days of actimetry data. A secondary objective was to use all of these biomarkers to better understand the mechanism for potential non-use of the paretic upper limb. Methods Accelerometers were worn continuously for a period of 7 days on both wrists of 10 post-stroke hemiparetic patients as well as 6 healthy subjects. Various wrist actimetry biomarkers were calculated, including the Jerk ratio 50 (JR50, cumulative probability that the Jerk Ratio is between 0 and 0.5), absolute and relative amounts of functional use of movements of the upper limbs (FuncUse and FuncUseR) and absolute and relative velocities of the upper limbs during functional use (VUL and VULR). For each biomarker, the values of stroke and healthy groups were compared. The correlations between all the biomarkers were studied. Results We studied 10 participants with mild-to-moderate chronic hemiparesis and 6 healthy control participants. FuncUse and VUL of the paretic upper limb of stroke patients were significantly lower than in the non-dominant upper limb of healthy subjects. Similarly, FuncUseR (paretic/non-paretic vs non-dominant/dominant), JR and VULR are significantly lower in stroke patients than in healthy subjects. FuncUseR, VULR and JR50 seem to be complementary biomarkers for monitoring patient strokes. Conclusion The stroke patients do not seem to compensate for the decrease in functional movement on the paretic side by an increase on the non-paretic side. The speed of execution of functional movements on the paretic side could be the limiting factor to a normal use of the paretic upper limb. A thorough clinical study is needed to identify the limiting factors. In conclusion, this study for the first time has shown actimetry is a robust and non-obtrusive lightweight technology for continuously acquiring objective upper limb data of paretic arm use/ non-use over an extended period in a home environment for monitoring stroke patients.

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