Dynamic Modeling and Interactive Performance of PARM: A Parallel Upper-Limb Rehabilitation Robot Using Impedance Control for Patients after Stroke
نویسندگان
چکیده
منابع مشابه
Robot aided therapy: challenges ahead for upper limb stroke rehabilitation
People who have been discharged from hospital following a stroke still have a potential to continue their recovery by doing therapy at home. Unfortunately it is difficult to exercise a stroke affected arm correctly and many people simply resort to using their good arm for most activities. This strategy makes many tasks difficult and any tasks requiring two hands become nearly impossible. The us...
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User security is an important consideration for robots that interact with humans, especially for upper‐limb rehabilitation robots, during the use of which stroke patients are often more susceptible to injury. In this paper, a novel safety supervisory control method incorporating fuzzy logic is proposed so as to guarantee the impaired limb’s safety should an emergency situatio...
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Focusing on providing stable and smooth robot-assisted exercises, this paper proposes a novel dynamic interpolation strategy to improve the robot movement performances. During the robot-assisted exercise, the designed control system dynamically employs appropriate interpolation method according to the physical state of the training impaired limb (PSTIL). The remarkable feature of this strategy ...
متن کاملVariable Impedance Control for Rehabilitation Robot using Interval Type-2 Fuzzy Logic
In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...
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BACKGROUND Commercial off-the-shelf computer gaming devices have been making inroads into the rehabilitation arena, with the objective of making therapeutic exercise fun and contextual. One such device is the Nintendo Wii. Published clinical studies evaluating its acceptance, potential benefits and side-effects in the rehabilitation of patients with post-stroke weakness are few in number. OBJ...
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ژورنال
عنوان ژورنال: Journal of Healthcare Engineering
سال: 2018
ISSN: 2040-2295,2040-2309
DOI: 10.1155/2018/8647591