Design and control of an upper limb rehabilitation support device for disabled people using a pneumatic cylinder

Purpose – The purpose of this paper is to describe the development of a device to support rehabilitation of a patient's upper limb motion.Design/methodology/approach – The device has five degrees of freedom by virtue of its link mechanism. It consists of Joints 1‐5. Apparatus for use in so‐called welfare applications, such as this device, must be safe, flexible, and lightweight. A pneumatic cylinder, arranged and integrated with the device, was used to operate it. The device has two rehabilitation modes corresponding to different rehabilitation contents. The first mode is the muscular recovery and movable region expansion mode (Mode A). The second mode is a practical function recovery mode (Mode B). A compliance control and a position control system are applied for those modes.Findings – By arranging the pneumatic cylinder optimally, results show that the device has compact and wide operating range and compliance‐control performance for Mode A. Position‐control performance for Mode B was verified experime...

[1]  Seiji Chonan,et al.  Development of an Arm Support System Using an Artificial Muscle Actuator and Gas Spring , 2007 .

[2]  Constantinos Mavroidis,et al.  Smart Portable Rehabilitation Devices , 2005 .

[3]  Yoshiyuki Sankai,et al.  Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  N. Hogan,et al.  Is robot-aided sensorimotor training in stroke rehabilitation a realistic option? , 2001, Current opinion in neurology.

[5]  Toshio Fukuda,et al.  An exoskeleton system for elbow joint motion rehabilitation , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[6]  R G Luckwill,et al.  Relationship between torque and EMG activity of a knee extensor muscle during isokinetic concentric and eccentric actions. , 1995, Journal of electromyography and kinesiology : official journal of the International Society of Electrophysiological Kinesiology.

[7]  Takashi Yamanaka,et al.  Rehabilitation Robot Using Rubber Artificial Muscle , 1995 .

[8]  Martin Levesley,et al.  Impedance control for a pneumatic robot-based around pole-placement, joint space controllers , 2005 .

[9]  C. Burgar,et al.  Robot-assisted movement training compared with conventional therapy techniques for the rehabilitation of upper-limb motor function after stroke. , 2002, Archives of physical medicine and rehabilitation.

[10]  Masatoshi Nakamura,et al.  Development of Meal Assistance Orthosis and Its Controller for Challenged Persons , 2004 .

[11]  Dong-Soo Kwon,et al.  Development of a wheelchair-based rehabilitation robotic system (KARES II) with various human-robot interaction interfaces for the disabled , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[12]  A. Graser,et al.  Rehabilitation robot FRIEND II - the general concept and current implementation , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[13]  Motoyoshi Ohaba,et al.  Torque Control of a Rehabilitation Teaching Robot Using Magneto-Rheological Fluid Clutches , 2005 .

[14]  Toshiro Noritsugu,et al.  Development of wrist rehabilitation equipment using pneumatic parallel manipulator -Acquisition of P.T.'s motion and its execution for patient- , 2009, 2009 IEEE International Conference on Rehabilitation Robotics.

[15]  R. Riener,et al.  Effects of intensive arm training with the rehabilitation robot ARMin II in chronic stroke patients: four single-cases , 2009, Journal of NeuroEngineering and Rehabilitation.

[16]  U. Ryu,et al.  Rehabilitation system with 3-D exercise machine for upper limb , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[17]  W. Rymer,et al.  Robot-assisted reaching exercise promotes arm movement recovery in chronic hemiparetic stroke: a randomized controlled pilot study , 2006, Journal of NeuroEngineering and Rehabilitation.

[18]  Masaaki Kobayashi,et al.  Development of an Upper Limb Power Assist System Using Pneumatic Actuators for Farming Lift-up Motion , 2009 .

[19]  Toru Tsumugiwa,et al.  Stability Analysis for Impedance Control of Robot in Human-Robot Cooperative Task System , 2007 .

[20]  N. Saga,et al.  Flexor mechanism of robot arm using pneumatic muscle actuators , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[21]  則次 俊郎,et al.  ゴム人工筋を用いたリハビリテーション支援ロボット(第1報 インピーダンス制御による訓練運動モードの実現) , 1995 .