Coordinative Motion-Based Bilateral Rehabilitation Training System with Exoskeleton and Haptic Devices for Biomedical Application

Abstract

According to the neuro-rehabilitation theory, compared with unilateral training, bilateral training is proven to be an effective method for hemiparesis, which affects the most part of stroke patients. In this study, a novel bilateral rehabilitation training system, which incorporates a lightweight exoskeleton device worn on the affected limb; a haptic device (Phantom Premium), which is used for generating a desired tactile feedback for the affected limb; and a VR (virtual reality) graphic interface, has been developed. The use of VR technology during rehabilitation can provide goal directed tasks with rewards and motivate the patient to undertake extended rehabilitation. This paper is mainly focused on elbow joint training, and other independent joints can be trained by easily changing the VR training interface. The haptic device is adopted to enable patients to use their own decision making abilities with a tactical feedback. Integrated with a VR-based graphic interface, the goal-oriented task can help to gradually recovery their motor function with a coordinative motion between two limbs. In particular, the proposed system can accelerate neural plasticity and motor recovery in those patients with little muscle strength by using the exoskeleton device. The exoskeleton device can provide from relatively high joint impedance to near-zero impedance, and can provide a partial assist as the patient requires.

Artificial Intelligence-Based Wearable Robotic Exoskeletons for Upper Limb Rehabilitation: A Review

“…Some of the developments shown in this literature review corresponded to rigid bilateral systems [ 27 , 34 , 49 , 55 ], designed specifically for synchronous motor rehabilitation. Some of them proposed different methodologies to detect the movement intentions and to replicate them using a leader–follower architecture.…”

“…As regards the structural materials used in the reviewed devices, 30% of the developments showed mixtures of two or more materials in their structures (see Figure 5 c). The addition of plastic elements to the metal structures that improve the physical appearance and reduce the weight represents the most common form of combination [ 23 , 34 , 46 ]. In developments such as [ 40 ], ANSYS static analysis was also used to examine the maximum strength and pressure of the mechanical structure, thereby helping to select the best materials.…”

“…As regards compact active exoskeletons, in the paper of Lambelet et al [ 29 ] an electrically actuated exoskeleton for rehabilitation of the wrist joint was presented. For its part, the development shown in [ 34 ] has highlighted the use of the active operation mode where Series Elastic Actuators (SEA) able to reduce the inertia and intrinsic impedance of the actuator, provide a more precise and stable force control.…”

“…Indeed, two-DoF modelling is quite common [ 25 , 50 ]; shoulder and elbow joint movement prevail. In [ 34 ] the constant alignment between the user’s elbow and the axes of the exoskeleton during movement was performed by means of passive mechanisms that can avoid the translational forces caused by the misalignment of the joints.…”

“…Finally, papers such as [ 34 , 37 , 41 ] showed other simple control methods based on AI techniques, integrating biological signals, which are able to provide the exoskeletons with good handling capabilities while extracting the main characteristics and patterns of the input signals.…”