Dynamic Modeling and Interactive Performance of PARM: A Parallel Upper-Limb Rehabilitation Robot Using Impedance Control for Patients after Stroke

Journal of Healthcare Engineering
Hui GuangBerno J E Misgeld

Abstract

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 ...Continue Reading

References

Feb 1, 2005·Journal of Neuroengineering and Rehabilitation·Hermano I KrebsNeville Hogan
Nov 24, 2006·Journal of Rehabilitation Research and Development·Peter S LumRuth Yap
Nov 5, 2011·Medical Engineering & Physics·Ho Shing Lo, Sheng Quan Xie
Dec 15, 2011·Journal of Neuroengineering and Rehabilitation·Juan-Manuel Belda-LoisMassimiliano Rea
Jan 8, 2014·Journal of Stroke·Won Hyuk Chang, Yun-Hee Kim
Jan 27, 2016·Circulation·UNKNOWN Writing Group MembersUNKNOWN Stroke Statistics Subcommittee
Oct 30, 2016·International Journal of Stroke : Official Journal of the International Stroke Society·Amanda G ThriftDominique A Cadilhac
May 26, 2017·Neurological Sciences : Official Journal of the Italian Neurological Society and of the Italian Society of Clinical Neurophysiology·Rachele BertaniRocco Salvatore Calabrò
Aug 2, 2017·Neuroscience and Biobehavioral Reviews·Desirée ColomboGiuseppe Riva

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Software Mentioned

GENTLE
MANUS
CARR
CADEN
PARM
BONES
MIME
ARMin
MIT
LabVIEW

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