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...

Abstract In robot-assisted rehabilitation, the performance of robotic assistance is dependent on human user’s dynamics, which are subject to uncertainties. order enhance rehabilitation and in particular provide a constant level assistance, we separate task space into two subspaces where combined scheme adaptive impedance control trajectory learning developed. Human movement speed can vary from ...

In a dynamic operational environment of human-robot interaction, awareness of the interacting human state and activity is essential to the decision making of the robotic system. We present our approach by illustrating its application in a particularly challenging context of human-robot co-working supported by our Human Sensory System, for measuring physiological data during robot-assisted gait ...

Several rehabilitation robots for upper limbs have been introduced so far, and their clinical effectiveness has been reported in many studies on recovery of motor abilities in the aged or poststroke patients. These studies, however, found little evidence of improving the functional abilities of patients. Moreover, it has been identified that the main problem of robot-assisted stroke rehabilitat...

The reach-to-grasp activities play an important role in our daily lives. The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs). In order to expand the useful range of RUPERT especially for patients with flaccid paralys...

OBJECTIVE To investigate the feasibility of rehabilitation training with a new wearable robot. DESIGN Before-after clinical intervention. SETTING University hospital and private rehabilitation facilities. PARTICIPANTS A convenience sample of patients (N=38) with limited mobility. The underlying diseases were stroke (n=12), spinal cord injuries (n=8), musculoskeletal diseases (n=4), and ot...

Background: Robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 potential changes have importantly clinical value for evaluating the improvement in nerve function during the training as one of the objective targets. Methods: Sixty hemiplegic patients after stroke were randomly divided into a L...

The successful motor rehabilitation of stroke patients requires early intensive and task-specific therapy. A recent Cochrane Review, although based on a limited number of randomized controlled trials (RCTs), showed that early robotic training of the upper limb (i.e., during acute or subacute phase) can enhance motor learning and improve functional abilities more than chronic-phase training. In ...

In this publication, we present a Motor Imagery (MI) based BrainComputer Interface (BCI) for neurologic rehabilitation. The BCI is able to control two different feedback devices. The first one is a rehabilitation robot, moving the fingers of the affected hand according to the detected MI. The second one presents feedback via virtual reality (VR) to the subject. The latter one visualizes two han...