|Title:||Assistive control system for upper limb rehabilitation robot||Authors:||Chen, Sung Hua
Lien, Wei Ming
Wang, Wei Wen
Lee, Guan De
Hsu, Li Chun
Lee, Kai Wen
Lin, Sheng Yen
Lin, Chia Hsun
|Issue Date:||1-Nov-2016||Journal Volume:||24||Journal Issue:||11||Start page/Pages:||1199-1209||Source:||IEEE Transactions on Neural Systems and Rehabilitation Engineering||Abstract:||
© 2001-2011 IEEE. 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.
|Appears in Collections:||醫學院附設醫院 (臺大醫院)|
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