Customizing Robot-Assisted Passive Neurorehabilitation Exercise Based on Teaching Training Mechanism.

Yingnan Lin,Jie Jia,Fengxian Guo,Jieying He,Chuankai Wang,Yifang Lin,Zewu Jiang,Qi Zhang,Qingming Qu,Lei Jiang

doi:10.1155/2021/9972560

Yingnan Lin, Jie Jia + Show 8 more

Open Access

https://doi.org/10.1155/2021/9972560

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Abstract

Passive movement is an important mean of rehabilitation for stroke survivors in the early stage or with greater paralysis. The upper extremity robot is required to assist therapists with passive movement during clinical rehabilitation, while customizing is one of the crucial issues for robot-assisted upper extremity training, which fits the patient-centeredness. Robot-assisted teaching training could address the need well. However, the existing control strategies of teaching training are usually commanded by position merely, having trouble to achieve the efficacy of treatment by therapists. And deficiency of flexibility and compliance comes to the training trajectory. This research presents a novel motion control strategy for customized robot-assisted passive neurorehabilitation. The teaching training mechanism is developed to coordinate the movement of the shoulder and elbow, ensuring the training trajectory correspondence with human kinematics. Furthermore, the motion trajectory is adjusted by arm strength to realize dexterity and flexibility. Meanwhile, the torque sensor employed in the human-robot interactive system identifies movement intention of human. The goal-directed games and feedbacks promote the motor positivity of stroke survivors. In addition, functional experiments and clinical experiments are investigated with a healthy adult and five recruited stroke survivors, respectively. The experimental results present that the suggested control strategy not only serves with safety training but also presents rehabilitation efficacy.

Highlights

New advances in technology and an increased upper extremity motor dysfunction lead to widespread adoption of robots in clinical rehabilitation poststroke
Intending to make the passive movement patterns customized on the residual functional ability and embedded in therapist’s track, the paper analyzes the design of the upper extremity robot with human-robot system and teaching training mechanism
In order to match natural redundancy and induce exact joint trajectories, the robot is with five degrees of freedom (DoF) to coincide with human upper extremity joints

Summary

Introduction

New advances in technology and an increased upper extremity motor dysfunction lead to widespread adoption of robots in clinical rehabilitation poststroke. The effects depend upon the type of device, intensity, duration, amount of training, treatment program, and participant’s residual functional ability. The devices fall into two main classes: robots developed to compensate for lost skills (assisted devices) and robots designed to recover lost function by training (therapy devices) [3]. Intending to make the passive movement patterns customized on the residual functional ability and embedded in therapist’s track, the paper analyzes the design of the upper extremity robot with human-robot system and teaching training mechanism. The teaching training is developed to assist therapists with customized smoothing passive movement, based on the judgment of residual function and desired training trajectory by therapists

Upper Extremity Robot Design

Teaching Training Mechanism

Experiments and Results

Conclusion and Discussion