期刊
FUTURE GENERATION COMPUTER SYSTEMS-THE INTERNATIONAL JOURNAL OF ESCIENCE
卷 113, 期 -, 页码 620-634出版社
ELSEVIER
DOI: 10.1016/j.future.2020.06.046
关键词
Mechanical structure; Control strategy; Pneumatic muscle (PM); Rehabilitation robot
资金
- National Natural Science Foundation of China [51705381, 51675389]
- Key Program for International S&T Cooperation of Hubei Province [2018AHB007]
- UK EPSRC [EP/S019219/1]
- EPSRC [EP/S019219/1] Funding Source: UKRI
Robot-assisted rehabilitation has become a new mainstream trend for the treatment of stroke patients with movement disability. Pneumatic muscle (PM) is one of the most promising actuators for rehabilitation robots, due to its inherent compliance and safety features. In this paper, we conduct a systematic review on the soft rehabilitation robots driven by pneumatic muscles. This review discusses up to date mechanical structures and control strategies for PMs-actuated rehabilitation robots. A variety of state-of-the-art soft rehabilitation robots are classified and reviewed according to the actuation configurations. Special attentions are paid to control strategies under different mechanical designs, with advanced control approaches to overcome PM's highly nonlinear and time-varying behaviors and to enhance the adaptability to different patients. Finally, we analyze and highlight the current research gaps and the future directions in this field, which is potential for providing a reliable guidance on the development of advanced soft rehabilitation robots. (C) 2020 Elsevier B.V. All rights reserved.
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