Next Article in Journal
Semi-Supervised Bayesian Classification of Materials with Impact-Echo Signals
Previous Article in Journal
Photonic Crystal Fiber-Based Surface Plasmon Resonance Sensor with Selective Analyte Channels and Graphene-Silver Deposited Core
Article Menu

Export Article

Open AccessArticle
Sensors 2015, 15(5), 11511-11527; doi:10.3390/s150511511

Design of a Novel Telerehabilitation System with a Force-Sensing Mechanism

1
Graduate School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa 761-0396, Japan
2
The Institute of Advanced Biomedical Engineering System, School of Life Science and Technology, Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, Beijing Institute of Technology, Haidian District, Beijing 100081, China
3
Department of Intelligent Mechanical Systems Engineering, Kagawa University, Kagawa 761-0396, Japan
*
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M.N. Passaro
Received: 17 December 2014 / Revised: 7 January 2015 / Accepted: 12 May 2015 / Published: 19 May 2015
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [1688 KB, uploaded 19 May 2015]   |  

Abstract

Many stroke patients are expected to rehabilitate at home, which limits their access to proper rehabilitation equipment, treatment, or assessment by therapists. We have developed a novel telerehabilitation system that incorporates a human-upper-limb-like device and an exoskeleton device. The system is designed to provide the feeling of real therapist–patient contact via telerehabilitation. We applied the principle of a series elastic actuator to both the master and slave devices. On the master side, the therapist can operate the device in a rehabilitation center. When performing passive training, the master device can detect the therapist’s motion while controlling the deflection of elastic elements to near-zero, and the patient can receive the motion via the exoskeleton device. When performing active training, the design of the force-sensing mechanism in the master device can detect the assisting force added by the therapist. The force-sensing mechanism also allows force detection with an angle sensor. Patients’ safety is guaranteed by monitoring the motor’s current from the exoskeleton device. To compensate for any possible time delay or data loss, a torque-limiter mechanism was also designed in the exoskeleton device for patients’ safety. Finally, we successfully performed a system performance test for passive training with transmission control protocol/internet protocol communication. View Full-Text
Keywords: telerehabilitation system; closed-loop interaction control strategy; series elastic actuator; force-sensing mechanism; inertia sensor; contact-less angle sensor; force sensor telerehabilitation system; closed-loop interaction control strategy; series elastic actuator; force-sensing mechanism; inertia sensor; contact-less angle sensor; force sensor
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Zhang, S.; Guo, S.; Gao, B.; Hirata, H.; Ishihara, H. Design of a Novel Telerehabilitation System with a Force-Sensing Mechanism. Sensors 2015, 15, 11511-11527.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top