Next Article in Journal
World-Models for Bitrate Streaming
Next Article in Special Issue
Switched Control of Motor Assistance and Functional Electrical Stimulation for Biceps Curls
Previous Article in Journal
Investigating the Physics of Tokamak Global Stability with Interpretable Machine Learning Tools
Previous Article in Special Issue
Shoulder Kinematics Assessment towards Exoskeleton Development
Article

Development and Assist-As-Needed Control of an End-Effector Upper Limb Rehabilitation Robot

Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China
*
Authors to whom correspondence should be addressed.
Appl. Sci. 2020, 10(19), 6684; https://doi.org/10.3390/app10196684
Received: 21 August 2020 / Revised: 15 September 2020 / Accepted: 18 September 2020 / Published: 24 September 2020
(This article belongs to the Special Issue Robotic and Sensor Technology for Upper Limb Rehabilitation)
Robot-assisted rehabilitation therapy has been proven to effectively improve upper limb motor function and daily behavior of patients with motor dysfunction, and the demand has increased at every stage of the rehabilitation recovery. According to the motor relearning program theory, upper limb motor dysfunction can be restored by a certain amount of repetitive training. Robotics devices can be an approach to accelerate the rehabilitation process by maximizing the patients’ training intensity. This paper develops a new end-effector upper limb rehabilitation robot (EULRR) first and then presents a controller that is suitable for the assist-as-needed (AAN) training of the patients when performing the rehabilitation training. The AAN controller is a strategy that helps the patient’s arm to stay close to the given trajectory while allowing for spatial freedom. This controller enables the patient’s arm to have spatial freedom by constructing a virtual channel around the predetermined training trajectory. Patients could move their arm freely in the allowed virtual channel during rehabilitation training while the robot provides assistance when deviating from the virtual channel. The AAN controller is preliminarily tested with a healthy male subject in different conditions based on the EULRR. The experimental results demonstrate that the proposed AAN controller could provide assistance when moving out of the virtual channel and provide no assistance when moving along the trajectory within the virtual channel. In the close future, the controller is planned to be used in elderly volunteers and help to increase the intensity of the rehabilitation therapy by assisting the arm movement and by provoking active participation. View Full-Text
Keywords: robot-aided training; end-effector rehabilitation robot; assist-as-needed; virtual channel robot-aided training; end-effector rehabilitation robot; assist-as-needed; virtual channel
Show Figures

Figure 1

MDPI and ACS Style

Zhang, L.; Guo, S.; Sun, Q. Development and Assist-As-Needed Control of an End-Effector Upper Limb Rehabilitation Robot. Appl. Sci. 2020, 10, 6684. https://doi.org/10.3390/app10196684

AMA Style

Zhang L, Guo S, Sun Q. Development and Assist-As-Needed Control of an End-Effector Upper Limb Rehabilitation Robot. Applied Sciences. 2020; 10(19):6684. https://doi.org/10.3390/app10196684

Chicago/Turabian Style

Zhang, Leigang, Shuai Guo, and Qing Sun. 2020. "Development and Assist-As-Needed Control of an End-Effector Upper Limb Rehabilitation Robot" Applied Sciences 10, no. 19: 6684. https://doi.org/10.3390/app10196684

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop