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Posts Tagged Force control
[Abstract + References] 4 DOF Exoskeleton Robotic Arm System for Rehabilitation and Training – Conference paper
This paper presents a rehabilitation and training system with 4 DOF exoskeleton robotic arm. This proposed system can record a posture of physiotherapist and playback that posture to the patients. For the posture playback, the exoskeleton arm’s motion was controlled with the recorded gesture and adjusted the level of an assistive motion. The GRNN method was used for predicting the static gravity compensation of each joint with accuracy of 94.66%, 97.63%, 87.02%, and 97.32%, respectively. Hence, the exact system modelling was not required in this system. The force controller with admittance control method was applied to control this exoskeleton robotic arm. The results of the usability test showed that the proposed system had an ability to enhance the muscle’s strength and indicated that the purposed exoskeleton arm could be applied to the rehabilitation or training task.
- Post stroke motor impairments involving force control capabilities are devastating.
- Bimanual motor synergies provide robust data on coordinating forces between hands.
- Low-force frequency patterns reveal fine motor control strategies in paretic hands.
- Analyzing both novel approaches advance understanding of post stroke force control.
Force control deficits are common dysfunctions after a stroke. This review concentrates on various force control variables associated with motor impairments and suggests new approaches to quantifying force control production and modulation. Moreover, related neurophysiological mechanisms were addressed to determine variables that affect force control capabilities. Typically, post stroke force control impairments include:
(a) decreased force magnitude and asymmetrical forces between hands,
(b) higher task error,
(c) greater force variability,
(d) increased force regularity, and
(e) greater time-lag between muscular forces.
Recent advances in force control analyses post stroke indicated less bimanual motor synergies and impaired low-force frequency structure.Brain imaging studies demonstrate possible neurophysiological mechanisms underlying force control impairments:
(a) decreased activation in motor areas of the ipsilesional hemisphere,
(b) increased activation in secondary motor areas between hemispheres,
(c) cerebellum involvement absence, and
(d) relatively greater interhemispheric inhibition from the contralesional hemisphere.
Consistent with identifying neurophysiological mechanisms, analyzing bimanual motor synergies as well as low-force frequency structure will advance our understanding of post stroke force control.