点击次数：

所属单位：机电学院

发表刊物：FRONTIERS IN NEUROLOGY

关键字：upper limb exoskeleton robot-assisted rehabilitation training patient-active control intention-driven virtual environment

摘要：Robot-assisted therapy affords effective advantages to the rehabilitation training of patients withmotion impairment problems. Tomeet the challenge of integrating the active participation of a patient in robotic training, this study presents an admittance-based patient-active control scheme for real-time intention-driven control of a powered upper limb exoskeleton. A comprehensive overview is proposed to introduce the major mechanical structure and the real-time control system of the developed therapeutic robot, which provides seven actuated degrees of freedom and achieves the natural ranges of human arm movement. Moreover, the dynamic characteristics of the human-exoskeleton system are studied via a Lagrangian method. The patient-active control strategy consisting of an admittance module and a virtual environment module is developed to regulate the robot configurations and interaction forces during rehabilitation training. An audiovisual game-like interface is integrated into the therapeutic system to encourage the voluntary efforts of the patient and recover the neural plasticity of the brain. Further experimental investigation, involving a position tracking experiment, a free arm training experiment, and a virtual airplane-game operation experiment, is conducted with three healthy subjects and eight hemiplegic patients with different motor abilities. Experimental results validate the feasibility of the proposed scheme in providing patient-active rehabilitation training.

备注：卷: 9

ISSN号：1664-2295

是否译文：否

发表时间：2018-10-11

通讯作者：吴青聪