Developed Rehabilitation Robot Research Articles

Design and evaluation of a double rope rehabilitation robot for sit-to-stand training

A double rope rehabilitation robot for sit-to-stand training is developed for human lower limb rehabilitations. Two kinds of training methods are used to ensure the safety control of rehabilitation activities. During the sit-to-stand training, the robot sensor system measures the ground reaction force, center of pressure, tension of ropes, motion track of body trunk, and the rotation angle of each body segment, and then the control system calculates the joint torques of hip, knee and ankle in real time. Six volunteers are involved in the experiment, and the results verify that the rehabilitation robot can ensure the completion of natural track in sit-to-stand training and improve the joint torque. In addition, the user’s motor intention can be identified by the control system, and the lower limb motor function can be trained effectively by encouraging users to exert strength by themselves. Therefore, the developed rehabilitation robot can be used to evaluate human body dynamics parameters and may improve rehabilitation activities in clinical environment.

Development and Evaluation of a Hybrid Walking Rehabilitation Robot, DDgo Pro

This paper describes the development and evaluation of a newly developed end-effector type rehabilitation robot named DDgo Pro. In order to induce normal walking pattern, a five-link mechanism was designed to follow normal walking trajectory. In order to implement the rehabilitation training feature, the core technologies of the drive unit consisting of freewheel and BLDC motor, the construction of the robot control system, and the algorithms of the three training modes in DDgo Pro were addressed in detail. Among the three training modes, Passive Mode makes the robot to fully guide normal walking pattern, and to help patients gain muscle strength in their lower body. In Active Assisted Mode, patients who have learned Passive Mode are able to perform active rehabilitation training for a long time while receiving muscle assistance from the robot in proportion to their walking intentions. Active mode was designed for patients to perform rehabilitation training for themselves with minimal help from the robot. In order to test muscle assisted performance of the newly developed rehabilitation robot, muscle activity in each training mode was measured using Electromyography for healthy people. In addition, gait dynamics was analyzed to check whether DDgo Pro help stroke patients correct their walking patterns.

Feedback-Based Iterative Learning Design and Synthesis With Output Constraints for Robotic Manipulators

Feedback-based iterative learning control (ILC) has been proposed to improve the unacceptable transient performance (either in state or in output) in the iteration-domain. This letter addresses a special performance requirement of output constraints, which are motivated from the safety requirements in robotic manipulators. A barrier-function like Lyapunov function is used to design a new state feedback (or a proportional-derivative controller) to ensure that output constraints are satisfied in the finite time-domain. This state feedback is then combined with the standard feed-forward ILC to track the desired trajectory. With the help of composite energy function, it is shown that, for robotic manipulators, the proposed control method can achieve perfect tracking performance without violating output constraints in any iteration. Simulation results, which are based on the model of recently developed rehabilitation robot EMU, are presented to illustrate the effectiveness of the proposed controller.

Measurement of Immediate Effect by Therapeutic Electrical Stimulation Using a New Desktop Rehabilitation Robot

Objective: More frequent use of robot technology in the field of rehabilitation is driving the need for smaller, less cumbersome devices. The objectives of the present study were to evaluate and compare quantitatively the upper limb function of chronic stroke patients before and after therapeutic electrical stimulation using a newly developed rehabilitation robot. Methods: Five stroke patients (3 men, 2 women; mean age: 66.4 ± 9.6 years; time since stroke: 36.0 ± 52.9 months) in the sub-acute and chronic phase of stroke-induced hemiplegia (induced by cerebral hemorrhage in four and by cerebral infarction in one; Brunnstrom stages III-V) participated in the study. None of them had any secondary motor neuron dysfunction or unstable disease control. Before and after 15 min of therapeutic electrical stimulation for repeated finger flexion and extension, participants performed reaching movements while moving the rehabilitation robot with their affected hand. Assessment parameters included Maximum swerve, Average speed, and smoothness of movements, as calculated by Jerk cost X (right-left direction) and Jerk cost Y (forward-backward direction). Results: All patients were able to use the rehabilitation robot to perform the reaching movements. Clear differences were observed before and after therapeutic electrical stimulation for Maximum swerve and Average speed in the X direction, and there was a tendency for Jerk cost X to differ before and after therapeutic electrical stimulation. In contrast, there were no significant differences in either Jerk cost Y or Average speed in the Y direction before and after the stimulation. Conclusion: The immediate effects of therapeutic electrical stimulation in chronic stroke patients can be quantified using our newly developed rehabilitation robot. Successful quantification of the effects of therapeutic electrical stimulation in stroke patients using smaller robotic systems could revolutionize the rehabilitation of these and other patients suffering from motor dysfunction or paralysis.

片麻痺者を対象とした卓上型リハビリロボットの開発

The hemiplegic patients are expected to improve their exercise function through rehabilitation. Recently, the rehabilitation robot has received significant attention for upper limb therapy due to its low effort training repeatability and the possibility to measure movements. Robot systems for the upper limb function exist, but large ones they are not so common. Therefore, in this study, we have developed a rehabilitation robot which can be easily used on a table. In addition to that, the newly developed rehabilitation robot has a simple ARToolkit measurement device on board. Furthermore, to determine the practicality of the developed rehabilitation robot, we have identified the difference of motor skill in the upper limb between able-bodied people who differ in physical ability.

3축 힘 센서가 적용된 손목 굽힘 재활로봇 개발

This paper describes the development of a rehabilitation robot that can provide wrist bending exercise to a severe stroke patient staying in a bed ward or at home. The developed rehabilitation robot has a three-axis force sensor which detects three directional force Fx, Fy, and Fz. The sensor measures a bending force (Fz) exerted on the wrist and the signal force (Fx and Fy) which can be used for the safety purpose. The robot was designed for severe stroke patients in bed, and the robot program was developed to perform a wrist bending rehabilitation exercise. In our tests including a nine-day experimental exercise, the developed force sensor-based robot operated effectively and safely.

힘측정기반 팔꿈치 재활로봇 설계 및 힘제어

This paper describes the design of an elbow rehabilitation robot based on force measurement that enables a severe stroke patient confined to their bed to receive elbow rehabilitation exercises. The developed elbow rehabilitation robot was providewitha two-axis force/torque sensor which can detect force Fz and torque Tz, thereby allowing it to measure therotational force (Tz) exerted on the elbow and the signal force Fz which can be used as a safety device. The robot was designed and manufactured for severe stroke patients confined to bed, and the robot program was manufactured to perform flexibility elbow rehabilitation exercises. Asa result of the characteristics test of the developed rehabilitation robot, the device was safely operated while the elbow rehabilitation exercises were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.