Voluntary intention-driven rehabilitation robots for the upper limb
- Publisher:
- Academic Press
- Publication Type:
- Chapter
- Citation:
- Intelligent Biomechatronics in Neurorehabilitation, 2020, pp. 111 - 130 (19)
- Issue Date:
- 2020
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| Filename | Description | Size | |||
|---|---|---|---|---|---|
| V2_Control strategies with human voluntary motion intention for driving a cable-based upper limb rehabilitation robot.pdf | Accepted Manuscript version | 1.8 MB |
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Voluntary motion intention during rehabilitation is essential for patients with neurological motor disorders but who still have their own residual motor ability. The weight of the arm and limited involvement of the residual motor efforts might hinder movement performance because of patients' weak muscles. Two different kinds of control strategies are developed and applied by a cable-based upper limb rehabilitation robot for these reasons. A novel strategy for position-varying compensation of arm gravity is proposed for assisting patients whose residual motor ability is restricted by gravity. The robot can time-varyingly adjust the forces for compensating the gravity according to real-time position feedback. The performance of the strategy was assessed by recruiting seven healthy participants to track different movements in three-dimensional space. A natural integration for human–machine cooperation is built up using surface electromyography (sEMG) signals for revealing the voluntary motor intention of patients who still have their own residual motor ability. A model for continuously revealing the relationship between the sEMG signals and participants' voluntary forces is trained based on a linear state-space model. Ten healthy participants were recruited to track a rectilinear task with and without robot assistance. The results indicated that, with the proposed gravity compensation strategy, the robot might assist participants to perform higher-quality movements and improve their participation in movements. With the sEMG-based control strategy, the robot could provide appropriate assistance based on participants' voluntary motion and reveal their motor efforts. Overall, it is reasonable to choose different rehabilitation therapies for stroke patients with different motor statuses.
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