In this paper, a rehabilitation robot driven by multifilament muscles is designed based on the motion model and system elbow joint model. The passive training mode of robots were researched, active disturbance rejection control (ADRC) leveraged to improve tracking angle joints. no-load simulation robots, disturbances are added variables complete ADRC Proportional Integral Differential (PID) pos...

促通反復療法は脳卒中片麻痺の機能回復を図るための新たな運動療法で, 促通手技による意図した運動の実現 (Hebb則) とその集中反復 (使用頻度依存性の神経の可塑的変化) によって運動性下降路の再建, 強化を目指す. 促通反復療法の有用性はランダム化比較試験などの臨床試験によって報告され, さらに神経筋電気刺激や振動などの物理刺激との同時併用が機能回復を促進することを報告してきた. われわれはこれらの知見を活かしたリハビリテーションロボットを医工連携チームによって開発し, さらに産学連携により ｢麻痺側上肢のリーチング運動｣ や, ｢前腕の回内回外運動｣ の機能回復を目的とした製品が上市された. 今後, 麻痺肢への訓練量増大が期待される.

Robot-assisted therapy has become increasingly common in neurorehabilitation. Sophisticated controllers have been developed for robots to assist and cooperate with the patient. It is difficult for the patient to judge to what extent the robot contributes to the execution of a movement. Therefore, methods to comprehensively quantify the patient's contribution and provide feedback are of key impo...

In this paper we present a case study in which a 14-year-old, right-handed stroke patient with severe weakness, spasticity, and motor dysfunction of the left upper extremity participated in a three-month distal robotic training program. The robotic device was compliant to the patients movements and was able to modulate the level of assistance continuously throughout the trial (i.e., online adap...

Robotic devices have been used in post-stroke or trauma neurorehabilitation process for years. Due to the uncertain, complex, and changing physical human-robot-interaction dynamics involved and task-specific objectives for rehabilitation, control of this type of devices remains a vast area of research. This thesis seeks systematicness in rehabilitation robot control design by developing control...

This chapter discusses the advantages and feasibility of using compliant actuators in exoskeletons. We designed compliant actuation for use in a gait rehabilitation robot. In such a gait rehabilitation robot large forces are required to support the patient. In case of poststroke patients only the affected leg has to be supported while the movement of the unaffected leg should not be hindered. N...

Abstract Medical rehabilitation treatments are carried out to reinstate physical disorders caused from an injury or stroke. Robots can significantly assist the therapist to carry out an effortless and yet controlled rehabilitation program simultaneously on a number of patients to save on time and efforts of both the therapist and the patient. Ankle joint injuries, due to their complexities and ...

In this paper, neural network control is presented for a rehabilitation robot with unknown system dynamics. To deal with the system uncertainties and improve the system robustness, adaptive neural networks are used to approximate the unknown model of the robot and adapt interactions between the robot and the patient. Both full state feedback control and output feedback control are considered in...