Journal
ROBOTICA
Volume 32, Issue 7, Pages 1081-1100Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574713001264
Keywords
Rehabilitation robot; Clinical experiment; Fuzzy logic; Position control; Impedance control
Categories
Funding
- National Natural Science Foundation of China [61305095, 61104216, 61104206]
- Natural Science Foundation for Colleges and Universities of Jiangsu Province of China [12KJB510015]
- Scientific Research Foundation of Nanjing University of Posts and Telecommunication [NY211020, NY211067]
Ask authors/readers for more resources
This study presents novel robotic therapy control algorithms for upper-limb rehabilitation, using newly developed passive and progressive resistance therapy modes. A fuzzy-logic based proportional-integral-derivative (PID) position control strategy, integrating a patient's biomechanical feedback into the control loop, is proposed for passive movements. This allows the robot to smoothly stretch the impaired limb through increasingly rigorous training trajectories. A fuzzy adaptive impedance force controller is addressed in the progressive resistance muscle strength training and the adaptive resistive force is generated according to the impaired limb's muscle strength recovery level, characterized by the online estimated impaired limb's bio-damping and bio-stiffness. The proposed methods are verified with a custom constructed therapeutic robot system featuring a Barrett WAM (TM) compliant manipulator. Twenty-four recruited stroke subjects were randomly allocated in experimental and control groups and enrolled in a 20-week rehabilitation training program. Preliminary results show that the proposed therapy control strategies can not only improve the impaired limb's joint range of motion but also enhance its muscle strength.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available