Assistive control system for upper limb rehabilitation robot
Journal
IEEE Transactions on Neural Systems and Rehabilitation Engineering
Journal Volume
24
Journal Volume
24
Journal Issue
11
Journal Issue
11
Pages
1199-1209
Start Page
1199
End Page
1209
Date Issued
2016
Author(s)
Chen, S.-H.
Lien, W.-M.
Wang, W.-W.
Lee, G.-D.
Hsu, L.-C.
Lee, K.-W.
Lin, S.-Y.
Lin, C.-H.
Abstract
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.
SDGs
Publisher
Institute of Electrical and Electronics Engineers Inc.
Type
journal article