[ARTICLE] A Spatial-Motion Assist-as-Needed Controller for the Passive, Active, and Resistive Robot-Aided Rehabilitation of the Wrist – Full Text PDF

Abstract

Demand for robot-assisted therapy has increased at every stage of the neurorehabilitation recovery. This paper presents a controller that is suitable for the assist-as-needed (AAN) training of the wrist when performing the spatial motion. A compact wrist exoskeleton robot is presented to realize the AAN controller. This wrist robot includes series elastic actuators with high torque-to-weight ratios to provide accurate force control required for the AAN controller. In addition to assist-as-needed rehabilitation, the parameters of the AAN controller can be adjusted to deliver passive, active, or resistive rehabilitation. Experimental results demonstrate that the proposed AAN controller can provide the total solution to cover each stage of wrist spatial-motion rehabilitation.

(a) Orientation of the wrist and handlebar (b) Omni-directional stiffness K and omni-directional damping B

via (PDF) A Spatial-Motion Assist-as-Needed Controller for the Passive, Active, and Resistive Robot-Aided Rehabilitation of the Wrist

[Abstract] An Adaptive Iterative Learning Based Impedance Control For Robot-Aided Upper-limb Passive Rehabilitation

In this paper, an anthropomorphic arm is introduced and used to the upper-limb passive rehabilitation therapy. The anthropomorphic arm is constructed via pneumatic artificial muscles so that it may assist patients suffering upper-limb diseases to achieve mild therapeutic exercises. Due to the uncertain dynamic environment, external disturbances and model uncertainties, a combined control is proposed to stabilize and to enhance the adaptivity of the system. In the combined control, an iterative learning control is used to realize accurate position tracking. Meanwhile, an adaptive iterative learning based impedance control is proposed to execute the appropriate contact force during the therapy of the upper-limb. The advantage of the combined control is that it doesn’t depend on the accurate model of systems and it may deal with highly nonlinear system which has strong coupling and redundancies. The convergence of the adaptive iterative learning based impedance control is emphasized analyzed. Numerical simulations are performed to verify the proposed control method. In addition, real experiments are executed on the Southwest anthropomorphic arm.

Source :
https://www.frontiersin.org/articles/10.3389/frobt.2019.00041/abstract  

[BOOK] Upper Limb Rehabilitation Using a Planar Cable-Driven Parallel Robot with Various Rehabilitation Strategies – Springer

Abstract

   Robotic technology became an important tool for rehabilitation especially for stroke patients. This paper presents development of three degrees-of-freedom cable-driven parallel robot (CDPR) for upper limb rehabilitation. Main features of the proposed rehabilitation robot are to provide relatively large workspace and to be less dangerous especially in the situation of robot’s malfunction owing to its reduced inertia of a moving part. In addition, the cable-driven rehabilitation robot has many advantages such as transportability, low cost, low actuation power, safeness, large workspace and so on. In this paper, we analyzed the patient’s joint movement during the passive rehabilitation using the developed CDPR. In addition, the paper presents the several types of rehabilitation therapy strategies and their implementation using the proposed CDPR system.

μέσω Upper Limb Rehabilitation Using a Planar Cable-Driven Parallel Robot with Various Rehabilitation Strategies – Springer.