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

Author:

Lin Yingnan1ORCID,Qu Qingming1,Lin Yifang1ORCID,He Jieying1ORCID,Zhang Qi1,Wang Chuankai1ORCID,Jiang Zewu1,Guo Fengxian2,Jia Jie13ORCID

Affiliation:

1. Department of Rehabilitation Medicine, Huashan Hospital, Fudan University, China

2. Shanghai Electric GeniKIT Medical Science and Technology Co., Ltd., Shanghai, China

3. National Clinical Research Center for Aging and Medicine, Huashan Hospital, Fudan University, China

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.

Funder

National Natural Science Foundation of China

Publisher

Hindawi Limited

Subject

General Immunology and Microbiology,General Biochemistry, Genetics and Molecular Biology,General Medicine

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