CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Robot assisted rehabilitation of the arm after stroke: prototype design and clinical evaluation
Peng, Liang; Hou, Zeng-Guang; Peng, Long; Luo, Lincong; Wang, Weiqun
Source PublicationSCIENCE CHINA-INFORMATION SCIENCES
2017-07
Volume60Issue:7Pages:1869-1919
SubtypeArticle
AbstractRobot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some
new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper
limb rehabilitation robot that can provide safe and compliant force feedbacks to the patient for the benefits of its
stiff and low-inertia parallel structure, highly backdrivable capstan-cable transmission, and impedance control
method in the workspace. The “assist-as-needed” (AAN) clinical training principle is implemented through
the “virtual tunnel” force field design, the “assistance threshold” strategy, as well as the virtual environment
training games, and preliminary clinical results show its effectiveness for motor relearning for both acute and
chronic stroke patients, especially for coordinated movements of shoulder and elbow.

KeywordRehabilitation Robot Passive Training Active Training Force Feedback Impedance Control
Indexed BySCI
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20007
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorHou, Zeng-Guang
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing.
Recommended Citation
GB/T 7714
Peng, Liang,Hou, Zeng-Guang,Peng, Long,et al. Robot assisted rehabilitation of the arm after stroke: prototype design and clinical evaluation[J]. SCIENCE CHINA-INFORMATION SCIENCES,2017,60(7):1869-1919.
APA Peng, Liang,Hou, Zeng-Guang,Peng, Long,Luo, Lincong,&Wang, Weiqun.(2017).Robot assisted rehabilitation of the arm after stroke: prototype design and clinical evaluation.SCIENCE CHINA-INFORMATION SCIENCES,60(7),1869-1919.
MLA Peng, Liang,et al."Robot assisted rehabilitation of the arm after stroke: prototype design and clinical evaluation".SCIENCE CHINA-INFORMATION SCIENCES 60.7(2017):1869-1919.
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