Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings
Joint Authors
Tu, Xikai
Han, Hualin
Li, Jian
Su, Chen
Jiang, Xiaobo
Huang, Jian
He, Jiping
Source
Journal of Healthcare Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-06-15
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
The reach-to-grasp activities play an important role in our daily lives.
The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs).
In order to expand the useful range of RUPERT especially for patients with flaccid paralysis, functional electrical stimulation (FES) is taken to activate paralyzed arm muscles.
As both the exoskeleton robot driven by PAMs and the neuromuscular skeletal system under FES possess the highly nonlinear and time-varying characteristics, iterative learning control (ILC) is studied and is taken to control this newly designed hybrid rehabilitation system for reaching trainings.
Hand function rehabilitation refers to grasping.
Because of tiny finger muscles, grasping and releasing are realized by FES array electrodes and matrix scan method.
By using the surface electromyography (EMG) technique, the subject’s active intent is identified.
The upper limb rehabilitation robot powered by PAMs cooperates with FES arrays to realize active reach-to-grasp trainings, which was verified through experiments.
American Psychological Association (APA)
Tu, Xikai& Han, Hualin& Huang, Jian& Li, Jian& Su, Chen& Jiang, Xiaobo…[et al.]. 2017. Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings. Journal of Healthcare Engineering،Vol. 2017, no. 2017, pp.1-15.
https://search.emarefa.net/detail/BIM-1180770
Modern Language Association (MLA)
Tu, Xikai…[et al.]. Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings. Journal of Healthcare Engineering No. 2017 (2017), pp.1-15.
https://search.emarefa.net/detail/BIM-1180770
American Medical Association (AMA)
Tu, Xikai& Han, Hualin& Huang, Jian& Li, Jian& Su, Chen& Jiang, Xiaobo…[et al.]. Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings. Journal of Healthcare Engineering. 2017. Vol. 2017, no. 2017, pp.1-15.
https://search.emarefa.net/detail/BIM-1180770
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1180770