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A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs 被引量:3

A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs
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摘要 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 ana- lyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients' up- per 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 ann's rehabilitation exercises. In active-resistant motions, because patients are re- covered 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. A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused bystroke is proposed in this paper.Its hardware structure is introduced and the control methods are ana-lyzed.To implement intelligent and interactive rehabilitation exercises,motion intention of patients' up-per limb is introduced into control methods of rehabilitation exercises.In passive motions,according tothe 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 robotand assist paralysis arm' s rehabilitation exercises.In active-resistant motions,because patients are re-covered with some muscle forces and active motion ability after a rehabilitation period,the tenninal forceloaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors,accordingto which,the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.
作者 李庆玲
出处 《High Technology Letters》 EI CAS 2009年第3期245-249,共5页 高技术通讯(英文版)
基金 supported by the High Technology Research and Development Programme of China(No.2004AA421030)
关键词 rehabilitation robot surface electromyogram (sEMG) passive motions active-resis- tant motions 机器人系统 康复机器人 五自由度 上肢 康复训练 手臂肌肉 终端速度 力矩传感器
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