Study on motion performance of robot-aided passive rehabilitation exercises using novel dynamic motion planning strategy

The motion rehabilitation training robot is developed to help patients with motion dysfunction recover their motor function by providing a large amount of repetitive robot-aided exercise. To achieve stable and smooth robot-aided exercises for stroke patients, a motion control method with a novel dyn...

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 16; no. 5; p. 172988141987323
Main Authors Pan, Lizheng, Song, Aiguo, Duan, Suolin, Shi, Xianchuan
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 01.09.2019
Sage Publications Ltd
SAGE Publishing
Subjects
Control stability
Human motion
Interpolation
Motion control
Motion planning
Planning
Rehabilitation
Rehabilitation robots
Robot arms
Robot dynamics
Robots
Smoothness
Strategy
Tracking systems
Training
Trajectory planning
Rehabilitation robot
smoothness
motion control
motion planning strategy
stroke
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Summary:The motion rehabilitation training robot is developed to help patients with motion dysfunction recover their motor function by providing a large amount of repetitive robot-aided exercise. To achieve stable and smooth robot-aided exercises for stroke patients, a motion control method with a novel dynamic motion planning strategy is proposed. The physical state of the training limb is assessed real time during the rehabilitation exercises. The dynamic motion planning strategy is developed by employing a suitable interpolation method dynamically corresponding to the physical state of the training limb to plan a trajectory tracking system that completely utilizes different interpolation characteristics to manage the movement in accordance with the time-varying physical state of the training limb. Concurrently, a position-based impedance control is adopted to achieve compliant movement. Functional (quantitative and qualitative) and clinical experiments are conducted on a four-degree-of-freedom whole-arm manipulator upper limb rehabilitation robot to verify the effectiveness of the control method designed with the dynamic motion planning strategy. The results indicate that the proposed control strategy can exhibit better performances in terms of the stability and smoothness.
ISSN:1729-8814
1729-8806
1729-8814
DOI:10.1177/1729881419873236