Abstract
The motion rehabilitation training robot is developed to help patients with motion dysfunction recover their motor function by providing a large amount of repetitive robot-aided exercise. To achieve stable and smooth robot-aided exercises for stroke patients, a motion control method with a novel dynamic motion planning strategy is proposed. The physical state of the training limb is assessed real time during the rehabilitation exercises. The dynamic motion planning strategy is developed by employing a suitable interpolation method dynamically corresponding to the physical state of the training limb to plan a trajectory tracking system that completely utilizes different interpolation characteristics to manage the movement in accordance with the time-varying physical state of the training limb. Concurrently, a position-based impedance control is adopted to achieve compliant movement. Functional (quantitative and qualitative) and clinical experiments are conducted on a four-degree-of-freedom whole-arm manipulator upper limb rehabilitation robot to verify the effectiveness of the control method designed with the dynamic motion planning strategy. The results indicate that the proposed control strategy can exhibit better performances in terms of the stability and smoothness.
Highlights
Stroke is a disease, the main clinical symptoms of which are either ischemic or hemorrhagic injuries to the brain, mainly divided into hemorrhagic stroke and ischemic stroke, resulting in a very high disability and mortality.[1,2] According to the World Health Organization, more than 15 million people suffer a stroke annually, and over 69% of the stroke patients experience upper extremity motor dysfunction.[3]
The smoothness is an important characteristic of a coordinated motion function that is primarily related to the central nervous system (CNS), and so, numerous stroke patients have a low movement smoothness.[12]
Since the cubic spline interpolation (CSI) method is one of the common methods used in the industry, the results of CSI and the other two methods (LI and pulse linear interpolation (PLI)) are illustrated to better demonstrate the characteristics of each method
Summary
The main clinical symptoms of which are either ischemic or hemorrhagic injuries to the brain, mainly divided into hemorrhagic stroke (cerebral hemorrhage or subarachnoid hemorrhage) and ischemic stroke (cerebral infarction, cerebral thrombosis), resulting in a very high disability and mortality.[1,2] According to the World Health Organization, more than 15 million people suffer a stroke annually, and over 69% of the stroke patients experience upper extremity motor dysfunction.[3] intensive rehabilitation motion training based on the restoration theories of muscles and neuroscience assists in improving the function recovery and self-care ability of a patient in his/her daily life after the stroke.[4,5]. A study by Buma et al.[17] verified that the smoothness is related to brain activation, and robotic-assisted smooth movements could enhance neuroplasticity that is at the base of motor recovering
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