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首页> 外文期刊>International Journal of Advanced Robotic Systems >A novel approach for robot-assisted upper-limb rehabilitation: Progressive resistance training as a paradigm
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A novel approach for robot-assisted upper-limb rehabilitation: Progressive resistance training as a paradigm

机译：一种新颖的机器人辅助高肢康复方法：渐进式阻力训练作为范式

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摘要

This study presented a novel control approach for rehabilitation robotic system using the hybrid system theory and the subject's bio-damping and bio-stiffness parameters. Resistance training was selected as a paradigm. The proposed control architecture incorporated the physical therapist's behavior intervention, the stroke survivor's muscle strength changes, and the robotic device's motor control into a unified framework. The main focuses of this research were to (i) automatically monitor the subject's muscle strength changes using the online identified bio-damping/stiffness parameters; (ii) make decisions on the modification of the desired resistive force so as to coincide with the subject's muscle strength changes; and (iii) generate accommodating plans when the safety-related issues such as spasticity and the abnormal robotic working states happen during the execution of training tasks. A Barrett WAM compliant manipulator-based resistance training system and two experiments including four scenarios were developed to verify the proposed approach. Experimental results with healthy subjects showed that the hybrid system-based control architecture could administrate the subject's muscle strength changes and the robotic device's interventions in an automated and safe manner.
机译：本研究提出了一种利用混合系统理论和受试者的生物阻尼和生物刚度参数的康复机器人系统的新颖控制方法。选择抵抗培训作为范式。拟议的控制架构纳入了物理治疗师的行为干预，中风幸存者的肌肉力量变化，机器人设备的电机控制成统一框架。本研究的主要重点是（i）使用在线识别的生物阻尼/刚度参数自动监测受试者的肌肉强度变化; （ii）作出决定改变所需的电阻力，以与受试者的肌肉力量变化重合; （iii）当在执行培训任务期间发生痉挛等安全相关问题时，会产生适应计划。符合Barrett WAM兼容的机械手基电阻训练系统和包括四种情况的两项实验是为了验证所提出的方法。健康受试者的实验结果表明，混合系统的控制架构可以以自动和安全的方式管理受试者的肌肉力量变化和机器人设备的干预措施。

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