Implementation of active training for an upper-limb rehabilitation robot based on impedance control

Many rehabilitation robots have been designed to alleviate the conflict between increasing number of post-stroke patients and shortage of therapists. Active training is the main feature of advanced rehabilitation robots, which has been proved to be more effective than simple passive movement training. This paper presents the implementation of active training on a 2-DOF upper-limb rehabilitation robot, which can assist the shoulder and elbow joint rehabilitation training of post-stroke patients. The controller is built based on impedance control, which can provide a compliant human-robot reaction. The implementation of active training is combined with a virtual reality game, and the average error between the actual and target reaction force is 1.41 ± 0.79 N in the X axis, and 1.22 ± 0.91 N in the Y axis.

[1]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[2]  N. Hogan,et al.  Motions or muscles? Some behavioral factors underlying robotic assistance of motor recovery. , 2006, Journal of rehabilitation research and development.

[3]  D. Reinkensmeyer,et al.  Review of control strategies for robotic movement training after neurologic injury , 2009, Journal of NeuroEngineering and Rehabilitation.

[4]  Olivier Lambercy,et al.  ReFlex, a haptic wrist interface for motor learning and rehabilitation , 2010, 2010 IEEE Haptics Symposium.

[5]  V. Dietz,et al.  Three-dimensional, task-specific robot therapy of the arm after stroke: a multicentre, parallel-group randomised trial , 2014, The Lancet Neurology.

[6]  Grant D. Huang,et al.  Robot-assisted therapy for long-term upper-limb impairment after stroke. , 2010, The New England journal of medicine.

[7]  R. Riener,et al.  ARMin - design of a novel arm rehabilitation robot , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[8]  Vincent Hayward,et al.  The Pantograph Mk-II: a haptic instrument , 2005 .

[9]  Angel Rubio,et al.  Stability analysis of a 1 DOF haptic interface using the Routh-Hurwitz criterion , 2004, IEEE Transactions on Control Systems Technology.

[10]  Robert Riener,et al.  Robot-aided neurorehabilitation of the upper extremities , 2005, Medical and Biological Engineering and Computing.

[11]  Vu Minh Hung,et al.  Tele-operation of a 6-DOF serial robot using a new 6-DOF haptic interface , 2010, 2010 IEEE International Symposium on Haptic Audio Visual Environments and Games.

[12]  Jin Hu,et al.  Training strategies for a lower limb rehabilitation robot based on impedance control , 2012, 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.