Abstract
Aiming at stroke patients’ hand rehabilitation training, we present a hand exoskeleton with both active and passive control modes for neural rehabilitation. The exoskeleton control system is designed as a human–robot interaction control system based on field-programmable gate array (FPGA) and Android mobile terminal with good portability and openness. Passive rehabilitation pattern based on proportional derivative (PD) inverse dynamic control method and active rehabilitation pattern based on impedance method, are established respectively. By the comparison of the threshold value and the force on the fingertip of the exoskeleton from the sensor, the automatic switch between active and passive rehabilitation mode is accomplished. The hand model is built in Android environment that can synchronize the movement of the hand. It can also induce patients to participate in rehabilitation training actively. To verify the proposed control approach, we set up and conduct an experiment to do the passive rehabilitation mode, active rehabilitation mode, and active plus passive mode experimental researches. The experiment results effectively verify the feasibility of the exoskeleton system fulfilling the proposed control strategy.
Highlights
Stroke often results in a combination of cognitive, sensory, and motor impairments
The controlon system adoptsbased hierarchical control strategy, upper layer controland and the the interface are designed the tablet on Android, and thethe lower layer control data collection are designed on the tablet based on Android, and the lower layer control and the data collection are array are designed on the system on programmable chip (SOPC) based on field-programmable gate designed on the system on programmable chip (SOPC)
This paper presents kind rehabilitation of active and passive rehabilitation control strategy and builds the the control system of theahand exoskeleton that can accomplish the control strategy
Summary
Stroke often results in a combination of cognitive, sensory, and motor impairments. it has become one of the main diseases threatening human survival and health [1,2]. They are limited in the number of independently actuated degrees of freedom Their mechanism design ideas can be used as a reference for the study of the hand rehabilitation exoskeleton [15,16,17,18,19]. The most commonly reported rehabilitation modes provided by developed rehabilitation exoskeletons are the continuous passive motion (CPM) and the active assisted movement (AAM). Some exoskeleton systems are designed for passive rehabilitation mode based on CPM [24]. Some other exoskeleton systems are designed for active rehabilitation control mode based on AAM [25]. Two kinds of rehabilitation modes could switch actively according to contact forces between fingers and exoskeleton in different rehabilitation stages. The feasibility of the control system and the control strategy has been verified through the experiments
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
