title: Assistive Control System for Upper Limb Rehabilitation Robot.
abstract: This paper presents an assistive control system with a special kinematic structure of an upper limb rehabilitation robot embedded with force/torque sensors. A dynamic human model integrated with sensing torque is used to simulate human interaction under three rehabilitation modes: active mode, assistive mode, and passive mode. The hereby proposed rehabilitation robot, called NTUH-ARM, provides 7 degree-of- freedom (DOF) motion and runs subject to an inherent mapping between the 7 DOFs of the robot arm and the 4 DOFs of the human arm. The Lyapunov theory is used to analyze the stability of the proposed controller design. Clinical trials have been conducted with six patients, one of which acts as a control. The results of these experiments are positive and STREAM assessment by physical therapists also reveals promising results.
authors.forename: Sung-Hua
authors.initials: SH
authors.lastname: Chen
authors.forename: Wei-Ming
authors.initials: WM
authors.lastname: Lien
authors.forename: Wei-Wen
authors.initials: WW
authors.lastname: Wang
authors.forename: Guan-De
authors.initials: GD
authors.lastname: Lee
authors.forename: Li-Chun
authors.initials: LC
authors.lastname: Hsu
authors.forename: Kai-Wen
authors.initials: KW
authors.lastname: Lee
authors.forename: Sheng-Yen
authors.initials: SY
authors.lastname: Lin
authors.forename: Chia-Hsun
authors.initials: CH
authors.lastname: Lin
authors.forename: Li-Chen
authors.initials: LC
authors.lastname: Fu
authors.forename: Jin-Shin
authors.initials: JS
authors.lastname: Lai
authors.forename: Jer-Junn
authors.initials: JJ
authors.lastname: Luh
authors.forename: Wen-Shiang
authors.initials: WS
authors.lastname: Chen
mesh_terms: D001132:Arm; D001676:Biofeedback, Psychology / Q000295:instrumentation* / Q000379:methods; D004867:Equipment Design; D019544:Equipment Failure Analysis; D000067190:Exoskeleton Device; D006801:Humans; D008954:Models, Biological; D015915:Motion Therapy, Continuous Passive / Q000295:instrumentation* / Q000379:methods; D009069:Movement Disorders / Q000534:rehabilitation*; D000066530:Neurological Rehabilitation / Q000295:instrumentation / Q000379:methods; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D013813:Therapy, Computer-Assisted / Q000295:instrumentation* / Q000379:methods