A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs

TP3; A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are analyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of pat...

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Bibliographic Details
Published in高技术通讯（英文版） Vol. 15; no. 3; pp. 245 - 249
Format Journal Article
LanguageEnglish
Published 01.09.2009
Subjects
active-resistant motions
surface electromyogram (sEMG)
passive motions
rehabilitation robot
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Summary:TP3; A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are analyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients' upper limb is introduced into control methods of rehabilitation exercises. In passive motions, according to the character of unilateral impaired, multi-channels surface electromyogram (sEMG) signals of patients' healthy arm muscles are acquired and analyzed to recognize the upper limb motions, then drive the robot and assist paralysis arm's rehabilitation exercises. In active-resistant motions, because patients are recovered with some muscle forces and active motion ability after a rehabilitation period, the terminal force loaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors, according to which, the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.
ISSN:1006-6748
DOI:10.3772/j.issn.1006-6748.2009.03.004