Bilateral Arm Training (BAT) Using an Exoskeleton Robot with IMU Measurement System for Stroke Patient
Date Issued
2014
Date
2014
Author(s)
Wang, Wei-Wen
Abstract
Patients with disabilities of the upper limbs caused by neurologic and orthopedic disorder require timely rehabilitation to regain motor function and prevent complications such as contracture and disuse atrophy. To reduce the costs associated with rehabilitation, this study developed a novel system involving an upper-limb exoskeleton robot with an inertia motion unit (IMU) measurement system based on the principles governing bilateral arm therapy and assistive robotics. The integration of IMU measurement with an exoskeleton robot enables measurement and control over a larger range of motion (ROM) and improves the safety and user-friendliness of the system. For trajectory design, we applied the principles of bilateral therapy, which include leader-follower control and self-motion control. This approach to training enables the early detection of symptoms and enhances ROM. The integration of these two methods enables the generation of trajectories that are more complex than conventional approaches, which are limited to specific types of trajectory. To ensure the accuracy and safety of orientation measurement in robot-assisted exercises, we developed a point-to-point control system comprising two position measurement components in conjunction with a PID controller. The units monitor one another to make the system more robust and to prevent harm due to single point of failure.
Subjects
慣性測量系統
外骨骼式機器人
雙側手臂訓練
主從控制
自我訓練控制
Type
thesis
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