Abstract
Rehabilitation and nursing-care robots have become one of the prevalent methods for assistant treatment of motor disorder patients in the field of medical rehabilitation. Traditional rehabilitation robots are mostly made of rigid materials, which significantly limits their application for medical rehabilitation and nursing-care. Soft robots show great potential in the field of rehabilitation robots because of their inherent compliance and safety when they interact with humans. In this paper, we conduct a systematic summary and discussion on the soft rehabilitation and nursing-care robots. This study reviews typical mechanical structures, modeling methods, and control strategies of soft rehabilitation and nursing-care robots in recent years. We classify soft rehabilitation and nursing-care robots into two categories according to their actuation technology, one is based on tendon-driven actuation and the other is based on soft intelligent material actuation. Finally, we analyze and discuss the future directions and work about soft rehabilitation and nursing-care robots, which can provide useful guidance and help on the development of advanced soft rehabilitation and nursing-care robots.
Highlights
In many cases, population aging increases the probability of disability and the number of disabled people in, and the age structure of disabled people is becoming an inverted pyramid [1]
The results show that the control algorithm is effective, and [102] proposed an ESGP-NMPC strategy for stabilizing the tracking error dynamics model of pneumatic muscle actuators (PMAs) devices
This paper conducts a review on soft rehabilitation and nursing-care robots in design, modeling methods and control strategies
Summary
Population aging increases the probability of disability and the number of disabled people in, and the age structure of disabled people is becoming an inverted pyramid [1]. Traditional rehabilitation robots typically consist of rigid parts such as rigid drives, actuators and so on [3,4] They can help patients accomplish rehabilitation training, daily activities, and even restore some loss abilities. The emergence of such robots has created a new collaborative relationship between robots, patients and therapists This new collaborative relationship has improved the effectiveness of the patient’s rehabilitation training and the efficiency of the rehabilitation worker, providing an effective way to address the challenges posed by the trend of an ageing community. This kind of robots has a huge potential market in the field of medical rehabilitation. The rigid structure of conventional rehabilitation robots makes it difficult for
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