Robot assisted rehabilitation of the arm after stroke: prototype design and clinical evaluation
Peng, Liang1; Hou, Zeng-Guang1,2,3; Peng, Long1,2; Luo, Lincong1,2; Wang, Weiqun1
2017-07-01
发表期刊SCIENCE CHINA-INFORMATION SCIENCES
卷号60期号:7页码:1869-1919
文章类型Article
摘要Robot 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.
关键词Rehabilitation Robot Passive Training Active Training Force Feedback Impedance Control
WOS标题词Science & Technology ; Technology
DOI10.1007/s11432-017-9076-9
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61533016 ; SKLMCCS ; Beijing Science and Technology Project(Z161100001516004) ; 61421004 ; 61603386 ; U1613228)
WOS研究方向Computer Science
WOS类目Computer Science, Information Systems
WOS记录号WOS:000408083000001
引用统计
被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20710
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Beijing 100190, Peoples R China
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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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