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Dynamic Modeling and Interactive Performance of PARM: A Parallel Upper-Limb Rehabilitation Robot Using Impedance Control for Patients after Stroke
المؤلفون المشاركون
Ji, Linhong
Guang, Hui
Shi, Yingying
Misgeld, Berno J. E.
المصدر
Journal of Healthcare Engineering
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-11، 11ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-04-05
دولة النشر
مصر
عدد الصفحات
11
التخصصات الرئيسية
الملخص EN
The robot-assisted therapy has been demonstrated to be effective in the improvements of limb function and even activities of daily living for patients after stroke.
This paper presents an interactive upper-limb rehabilitation robot with a parallel mechanism and an isometric screen embedded in the platform to display trajectories.
In the dynamic modeling for impedance control, the effects of friction and inertia are reduced by introducing the principle of virtual work and derivative of Jacobian matrix.
To achieve the assist-as-needed impedance control for arbitrary trajectories, the strategy based on orthogonal deviations is proposed.
Simulations and experiments were performed to validate the dynamic modeling and impedance control.
Besides, to investigate the influence of the impedance in practice, a subject participated in experiments and performed two types of movements with the robot, that is, rectilinear and circular movements, under four conditions, that is, with/without resistance or impedance, respectively.
The results showed that the impedance and resistance affected both mean absolute error and standard deviation of movements and also demonstrated the significant differences between movements with/without impedance and resistance (p<0.001).
Furthermore, the error patterns were discussed, which suggested that the impedance environment was capable of alleviating movement deviations by compensating the synergetic inadequacy between the shoulder and elbow joints.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Guang, Hui& Ji, Linhong& Shi, Yingying& Misgeld, Berno J. E.. 2018. Dynamic Modeling and Interactive Performance of PARM: A Parallel Upper-Limb Rehabilitation Robot Using Impedance Control for Patients after Stroke. Journal of Healthcare Engineering،Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1191274
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Guang, Hui…[et al.]. Dynamic Modeling and Interactive Performance of PARM: A Parallel Upper-Limb Rehabilitation Robot Using Impedance Control for Patients after Stroke. Journal of Healthcare Engineering No. 2018 (2018), pp.1-11.
https://search.emarefa.net/detail/BIM-1191274
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Guang, Hui& Ji, Linhong& Shi, Yingying& Misgeld, Berno J. E.. Dynamic Modeling and Interactive Performance of PARM: A Parallel Upper-Limb Rehabilitation Robot Using Impedance Control for Patients after Stroke. Journal of Healthcare Engineering. 2018. Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1191274
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1191274
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر
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