A rehabilitation robot with force-position hybrid fuzzy controller: hybrid fuzzy control of rehabilitation robot.
The goal of this study was to design a robot system for assisting in the rehabilitation of patients with neuromuscular disorders by performing various facilitation movements. The robot should be able to guide patient's wrist to move along planned linear or circular trajectories. A hybrid position/force controller incorporating fuzzy logic was developed to constrain the movement in the desired direction and to maintain a constant force along the moving direction. The controller was stable in the application range of movements and forces. Offline analyses of data were used to quantitatively assess the progress of rehabilitation. The results show that the robot could guide the upper limbs of subjects in linear and circular movements under predefined external force levels and apply a desired force along the tangential direction of the movements.
Ju
Ming-Shaung
MS
Department of Mechanical Engineering, National Cheng Kung University, Tainan 70101, Taiwan, ROC. msju@mail.ncku.edu.tw
Lin
Chou-Ching K
CC
Lin
Dong-Huang
DH
Hwang
Ing-Shiou
IS
Chen
Shu-Min
SM
D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback; D017143:Fuzzy Logic; D006801:Humans; D009069:Movement Disorders / Q000503:physiopathology* / Q000534:rehabilitation*; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D013314:Stress, Mechanical; D013813:Therapy, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*