https://scholars.lib.ntu.edu.tw/handle/123456789/488991
標題: | NTUH-II robot arm with dynamic torque gain adjustment method for frozen shoulder rehabilitation. | 作者: | Lin, C.-H. Lien, Wei-Ming Wang, W.-W. Chen, S.-H. Lo, C.-H. Lin, S.-Y. LI-CHEN FU Lai J.-S. |
關鍵字: | frozen shoulder; NTUH-II; rehabilitation robotics; upper limb | 公開日期: | 2014 | 起(迄)頁: | 3555-3560 | 來源出版物: | IEEE International Conference on Intelligent Robots and Systems | 會議論文: | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 | 摘要: | Frozen shoulder is a functional disorder related to shoulder muscles. Among many treatment strategies, rehabilitation exercise is one of the most common and viable therapy. In this research, a new 8 degrees of freedom (DOFs) rehabilitation robot arm named NTUH-II has been developed. The robot arm is able to provide most of upper limb rehabilitation motions in passive, active, and assistive modes. From the nature of muscle stretching, the exponential torque-angle relationship curve can be found, and thus it is possible to model and evaluate the condition of the patient's motion quality. The use of two parameters, stiffness and control authority, is proposed in this work. Based on these two parameters, an adjustment method of dynamic torque gain is developed and implemented on NTUH-II. Various experiments have been conducted, and appealing performance has been observed, which validates the method proposed in this paper. © 2014 IEEE. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/488991 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84911484662&doi=10.1109%2fIROS.2014.6943059&partnerID=40&md5=2302b11704fd5b725e7798dc605ae3a1 |
ISSN: | 21530858 | DOI: | 10.1109/IROS.2014.6943059 | SDG/關鍵字: | Agricultural robots; Degrees of freedom (mechanics); Intelligent robots; Muscle; Quality control; Robotic arms; Degrees of freedom (DoFs); Frozen shoulders; NTUH-II; Rehabilitation exercise; Rehabilitation robot; Rehabilitation robotics; Upper limbs; Upper-limb rehabilitation; Neuromuscular rehabilitation |
顯示於: | 資訊工程學系 |
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