An Industrial Robot-based Rehabilitation System for Bilateral Exercises

Show simple item record Sheng, Bo en Xie, S en Tang, Lihua en Deng, C en Zhang, Yanxin en 2019-11-24T21:35:05Z en 2019-10-18 en
dc.identifier.citation IEEE Access 7:151282-151294 18 Oct 2019 en
dc.identifier.issn 2169-3536 en
dc.identifier.uri en
dc.description.abstract Robot-assisted rehabilitation devices can provide intensive and precise task-based training that differs from clinician-facilitated manual therapy. However, industrial robots are still rarely used in rehabilitation, especially in bilateral exercises. The main purpose of this research is to develop and evaluate the functionality of a bilateral upper-limb rehabilitation system based on two modern industrial robots. A ‘patient-cooperative’ control strategy is developed based on an adaptive admittance controller, which can take into account patients’ voluntary efforts. Three bilateral training protocols (passive, active, and self) are also proposed based on the system and the control strategy. Experimental results from 10 healthy subjects show that the proposed system can provide reliable bilateral exercises: the mean RMS values for the master error and the master-slave error are all less than 1.00 mm and 1.15 mm respectively, and the mean max absolute values for the master error and the master-slave error are no greater than 6.11 mm and 6.73 mm respectively. Meanwhile, the experimental results also confirm that the recalculated desired trajectory can present the voluntary efforts of subjects. These experimental findings suggest that industrial robots can be used in bilateral rehabilitation training, and also highlight the potential applications of the proposed system in further clinical practices. en
dc.description.uri en
dc.publisher Institute of Electrical and Electronics Engineers (IEEE) en
dc.relation.ispartofseries IEEE Access en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. en
dc.rights.uri en
dc.rights.uri en
dc.title An Industrial Robot-based Rehabilitation System for Bilateral Exercises en
dc.type Journal Article en
dc.identifier.doi 10.1109/ACCESS.2019.2948162 en
pubs.begin-page 151282 en
pubs.volume 7 en
dc.rights.holder Copyright: The authors en
pubs.end-page 151294 en
pubs.publication-status Published en
dc.rights.accessrights en
pubs.subtype Article en
pubs.elements-id 784776 en Engineering en Mechanical Engineering en Science en Exercise Sciences en
pubs.record-created-at-source-date 2019-10-30 en 2019-10-18 en

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