Papers by Keyword: Rehabilitation Robot

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Authors: Su Hong Eom, Won Young Lee, Mun Suck Jang, Eung Hyuk Lee
Abstract: The falling off of body functions occurs gait disturbances as the human body is aged. Rehabilitation training is needed for overcoming such gait disturbances and the training can be achieved through repetitive training. Recent robot-assisted rehabilitation training has been usually performed in indoors and training speed is to be passively selected. Thus, in this study a training method that implements mobile gait rehabilitation training and varies training speed intellectually is proposed. The proposed method estimates gait intentions and information in training subjects and that is used in determining training speed.
Authors: Ya Nan Zhang, Yong Qiang Wu, Lin Yong Shen, Jin Wu Qian, Ya Yun Wang
Abstract: Walking rehabilitation training robot generally divided into exoskeleton rehabilitation robot and foot board rehabilitation robot. The purpose of this study is to develop a 6-DOF foot board rehabilitation robot, measurement and analysis the motion parameters of ankle for people walking on the treadmill. This paper introduces the basic method of get ankle motion data based on the NDI motion capture instrument, and screening and fitting for the measurement data, after these processes, then can get the motion law of ankle when people walking on the treadmill. The results are very helpful for the design of foot board rehabilitation robot device and the formulation of control strategy.
Authors: Zhi Lan, Zhen Liang Li, Ya Li
Abstract: A novel 5-DOF rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the method of screw theory, the rehabilitation robot’s kinematics model was set up according to the 5-DOF rehabilitation robot for upper limb. For the kinematics model set up by the method of screw theory, the inverse kinematics calculation was realized by using Paden-Kahan sub-problem method and algebraic elimination method, and the result of explicit solution was given. It offered reliance for the actual intellectual control of the position and speed about the rehabilitation robot.
Authors: Gang Yu, Jin Wu Qian, Lin Yong Shen, Ya Nan Zhang
Abstract: In traditional iatrical method, the patients with hemiplegia were assisted mainly by medical personnel to complete rehabilitation training. To make the medical personnel work easily and improve the effect of rehabilitation training, the rehabilitation robot was adopted. And the control system of a four DOF upper limb rehabilitation robot was designed based on impedance control to assist the patients with hemiplegia to complete rehabilitation training after the kinematic and kinetic analysis was finished. Then finished the analysis, simulation, and experiment of monarticular movement and multiarticulate movement after the analyzing the algorithm to tested the control system. The control system based on impedance control of the upper limb rehabilitation robot can realize the passive training which followed the planning trajectory, and active training which followed patients’ awareness of movement.
Authors: Zhi Lan, Zhen Liang Li, Ya Li
Abstract: A novel 5-DOF upper limb rehabilitation robot, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. The solutions of the robot’s kinematics equation were set up by the method of D-H according to the 5-DOF rehabilitation robot for upper limb. Based on the software of ADAMS, the mechanism was simulated and analyzed. Thus the movement of robot is determinate in a certain condition of importation. It offered important data for the trajectory planning and the actual intellective control of rehabilitating robot.
Authors: Marcel More, Ondrej Liska
Abstract: Sensor systems are an essential part of automated equipment. They are even more important in machines that come in contact with people, because they have a significant impact on safety. This paper describes the design of active feedback for rehabilitation device driven by pneumatic artificial muscles. Here are presented three methods for measuring the load of the robot. The first is a system composed of Force Sensitive Resistors (FSR) placed in the handle of the device. Two other methods are intended to measure the load of the actuator composed of artificial muscles. The principle of one method is to measure the difference in filling pressures of the muscles, second is based on strain measurement in the drive cables. The paper describes advantages and disadvantages of using each of these methods in a rehabilitation device.
Authors: Xiao Hua Shi, Yun Shan Lu, Hao Lu, Hong Bo Wang
Abstract: The rehabilitation robot which consists of two mechanical legs and an automatic seat was produced according to ergonomics. Each mechanical leg has three DOF. It can train patients combined with sEMG signal and FES. The rehabilitation robot has three train modes: passive mode, assistant mode and impedance mode, and it suits patients with different rehabilitation phases.
Authors: Ikuo Yamamoto, Miki Matsui, Naohiro Inagawa, Takunori Tsuji, Kenji Hachisuka, Futoshi Wada, Akiko Hachisuka
Abstract: The authors have developed wrist rehabilitation robot for hemiplegic patients. The robot is much effective for repetitive rehabilitation, and useful for patients. Mirror effect control system is developed based on the experience that a patient can easily move a limb while moving a limb on the other side. The effectiveness is successfully confirmed by the practical test in the hospital.
Authors: Marcel More, Ondrej Líška, Juraj Kováč
Abstract: Unlike conventional robots, the equipment provided with pneumatic artificial muscles cannot integrate standard systems for force measurement. Applied measurement system involves specific attributes and requirements for pneumatic muscles. Force feedback of rehabilitation device equipped with pneumatic muscles was experimentally verified under the laboratory condition.
Authors: Fu Cheng Cao, Hong Wu Qin
Abstract: Human as a varying dynamic system, the control strategies of human-robot interacts differ significantly from that of conventional industrial robot. Considered the patient-centered exercise regimens, a force control method based predict is presented to control a lower limb rehabilitation robot. The control law is introduced that optimises the the maintained force level and limits excessive forceto injury the subject's lower extremity joints. Simulation results show that the robot could guide thelower limb of subjects to move under predefined model of the external force.
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