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首页> 外文会议>IEEE/RSJ International Conference on Intelligent Robots and Systems >NTUH-II robot arm with dynamic torque gain adjustment method for frozen shoulder rehabilitation
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NTUH-II robot arm with dynamic torque gain adjustment method for frozen shoulder rehabilitation

机译：NTUH-II机械臂，具有动态扭矩增益调节方法，用于肩周炎的康复

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摘要

Frozen shoulder is a functional disorder related to shoulder muscles. Among many treatment strategies, rehabilitation exercise is one of the most common and viable therapy. In this research, a new 8 degrees of freedom (DOFs) rehabilitation robot arm named NTUH-II has been developed. The robot arm is able to provide most of upper limb rehabilitation motions in passive, active, and assistive modes. From the nature of muscle stretching, the exponential torque-angle relationship curve can be found, and thus it is possible to model and evaluate the condition of the patient's motion quality. The use of two parameters, stiffness and control authority, is proposed in this work. Based on these two parameters, an adjustment method of dynamic torque gain is developed and implemented on NTUH-II. Various experiments have been conducted, and appealing performance has been observed, which validates the method proposed in this paper.
机译：肩周炎是与肩部肌肉有关的功能性疾病。在许多治疗策略中，康复运动是最常见和可行的治疗方法之一。在这项研究中，开发了一种名为NTUH-II的新型8自由度（DOF）康复机器人手臂。机械臂能够在被动，主动和辅助模式下提供大多数上肢康复运动。根据肌肉伸展的性质，可以找到指数扭矩-角度关系曲线，因此可以对患者运动质量的状况进行建模和评估。在这项工作中，建议使用两个参数，即刚度和控制权限。基于这两个参数，开发了一种动态转矩增益的调整方法，并在NTUH-II上实现。已经进行了各种实验，并且观察到了吸引人的性能，这验证了本文提出的方法。

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