Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot

2017 ◽  
Author(s):  
Aitziber Mancisidor ◽  
Asier Zubizarreta ◽  
Itziar Cabanes ◽  
Pablo Bengoa ◽  
Je Hyung Jung
Keyword(s):  
Upper Limb ◽  
Impedance Control ◽  
Interaction Force ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Force And Motion ◽  
Limb Rehabilitation

Control System Design of Upper Limb Rehabilitation Robot

2013 ◽  
Vol 310 ◽  
pp. 477-480 ◽  
Author(s):  
Gang Yu ◽  
Jin Wu Qian ◽  
Lin Yong Shen ◽  
Ya Nan Zhang
Keyword(s):  
Control System ◽  
Upper Limb ◽  
Impedance Control ◽  
Medical Personnel ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Training ◽  
Simulation And Experiment ◽  
Limb Rehabilitation ◽  
Active Training

In traditional iatrical method, the patients with hemiplegia were assisted mainly by medical personnel to complete rehabilitation training. To make the medical personnel work easily and improve the effect of rehabilitation training, the rehabilitation robot was adopted. And the control system of a four DOF upper limb rehabilitation robot was designed based on impedance control to assist the patients with hemiplegia to complete rehabilitation training after the kinematic and kinetic analysis was finished. Then finished the analysis, simulation, and experiment of monarticular movement and multiarticulate movement after the analyzing the algorithm to tested the control system. The control system based on impedance control of the upper limb rehabilitation robot can realize the passive training which followed the planning trajectory, and active training which followed patients’ awareness of movement.

Implementation of active training for an upper-limb rehabilitation robot based on impedance control

2015 ◽  
Author(s):  
Liang Peng ◽  
Zeng-Guang Hou ◽  
Nikola Kasabov ◽  
Long Peng ◽  
Jin Hu ◽  
...  
Keyword(s):  
Upper Limb ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation ◽  
Active Training

scholarly journals Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Yali Liu ◽  
Chong Li ◽  
Linhong Ji ◽  
Sheng Bi ◽  
Xuemin Zhang ◽  
...  
Keyword(s):  
Upper Limb ◽  
Functional Ability ◽  
Degrees Of Freedom ◽  
Muscle Activation ◽  
Movement Pattern ◽  
Interaction Force ◽  
Rehabilitation Robot ◽  
End Effector ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Numerous robots have been widely used to deliver rehabilitative training for hemiplegic patients to improve their functional ability. Because of the complexity and diversity of upper limb motion, customization of training patterns is one key factor during upper limb rehabilitation training. Most of the current rehabilitation robots cannot intelligently provide adaptive training parameters, and they have not been widely used in clinical rehabilitation. This article proposes a new end-effector upper limb rehabilitation robot, which is a two-link robotic arm with two active degrees of freedom. This work investigated the kinematics and dynamics of the robot system, the control system, and the realization of different rehabilitation therapies. We also explored the influence of constraint in rehabilitation therapies on interaction force and muscle activation. The deviation of the trajectory of the end effector and the required trajectory was less than 1 mm during the tasks, which demonstrated the movement accuracy of the robot. Besides, results also demonstrated the constraint exerted by the robot provided benefits for hemiplegic patients by changing muscle activation in the way similar to the movement pattern of the healthy subjects, which indicated that the robot can improve the patient’s functional ability by training the normal movement pattern.

Fuzzy Impedance Control of Upper Limb Rehabilitation Robot*

2020 ◽  
Author(s):  
Daiyan Zhang ◽  
Mingxing Lin ◽  
Chuanqi Ban ◽  
Boyang Lian
Keyword(s):  
Upper Limb ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation
Sign in / Sign up

Export Citation Format

Share Document