ERRSE: Elbow Robotic Rehabilitation System with an EMG-Based Force Control

Robotic devices for rehabilitation purposes have been increasingly studied in the past two decades and are becoming more and more diffused, due to their effective support to the traditional therapy. They allow to automate in a repeatable manner the rehabilitative exercises and to quantify outcomes, giving important feedback to the therapist. This paper deals with the design, development and preliminary characterization of a robotic system, with an exoskeleton device, for assisted upper-limb rehabilitation, in which surface EMG measurements are used to implement a force-based active and resistive control. A prototype of the system has been realized, measurements of important parameters of the motion permitted to optimize the design and preliminary tests on the control strategy were carried out.

[1]  Vincent S. Huang,et al.  Robotic neurorehabilitation: a computational motor learning perspective , 2009, Journal of NeuroEngineering and Rehabilitation.

[2]  Youngrok Song,et al.  Comparison of wrist motion classification methods using surface electromyogram , 2013 .

[3]  Daniel P. Ferris,et al.  Robotic lower limb exoskeletons using proportional myoelectric control , 2009, 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

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

[5]  Yoshiaki Hayashi,et al.  EMG-Based Control of a Lower-Limb Power-Assist Robot , 2015, Intelligent Assistive Robots.

[6]  Yongjin Zhou,et al.  Relationship of EMG/SMG features and muscle strength level: an exploratory study on tibialis anterior muscles during plantar-flexion among hemiplegia patients , 2014, Biomedical engineering online.

[7]  H.I. Krebs,et al.  Robot-Aided Neurorehabilitation: A Robot for Wrist Rehabilitation , 2007, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[8]  Bernard F. Morrey,et al.  Treatment of elbow lesions , 2008 .

[9]  Yoky Matsuoka,et al.  Comparison of control strategies for an EMG controlled orthotic exoskeleton for the hand , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[10]  Maarten J. IJzerman,et al.  Systematic review of the effect of robot-aided therapy on recovery of the hemiparetic arm after stroke. , 2006, Journal of rehabilitation research and development.

[11]  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.

[12]  Sheng Quan Xie,et al.  Exoskeleton robots for upper-limb rehabilitation: state of the art and future prospects. , 2012, Medical engineering & physics.

[13]  Jinhua Long,et al.  Investigations of the functional states of dendritic cells under different conditioned microenvironments by Fourier transformed infrared spectroscopy , 2014, Biomedical engineering online.

[14]  H. Kawasaki,et al.  Development of a Hand Motion Assist Robot for Rehabilitation Therapy by Patient Self-Motion Control , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[15]  A. Kyrylova.  Development of a Wearable Mechatronic Elbow Brace for Postoperative Motion Rehabilitation , 2015 .

[16]  S. Micera,et al.  Robotic techniques for upper limb evaluation and rehabilitation of stroke patients , 2005, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[17]  Bernard F. Morrey,et al.  Treatment of elbow lesions · New aspects in diagnosis and surgical techniques , 2007 .