Design Requirements and User Interfacing for a Rehabilitation Robot for the Lower Limbs

Acosta-Marquez, C.; Bradley, David; Hawley, Mark; Brownsell, Simon; Enderby, Pam; Buri, H.; Mawson, Sue; Scott, Emma; O'Neill, Peter

doi:10.1109/ramech.2006.252691

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A Rehabilitation Requirement1

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2009

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“…In rehabilitation area, patient's level of muscle activity is usually defmed by the Oxford Scale of Table 1 and there are several typical exercises: passive, resistive, active resisted, active static, active kinetic and active isokinetic [7,8].…”

Section: A Rehabilitation Requirementmentioning

confidence: 99%

An adaptive haptic interaction architecture for knee rehabilitation robot

Wang

2009

2009 International Conference on Mechatronics and Automation

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In rehabilitation system, the patient has an evolving feature on motor ability. This feature imposes an important constraint on designing of effective humanrobot interaction architecture, which not only maintains training effectiveness but also ensures patient safety. In this paper, adaptive haptic interaction architecture is proposed, which utilize passive control for passive phase training and active control for active phase training. Various active control modes, such as active static, active iso-kinetic modes, are implemented using admittance control method and a big force bandwidth can be achieved. These active modes can be realized to strengthen patient's motor capability during active phase training. A prototype is developed and human subject experiments are carried out. The results show that the proposed architecture is able to provide a closed loop rehabilitation solution which includes diagnosis, treatment and feedback.

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Section: A Rehabilitation Requirementmentioning

confidence: 99%

An adaptive haptic interaction architecture for knee rehabilitation robot

Wang

2009

2009 International Conference on Mechatronics and Automation

View full text Add to dashboard Cite

show abstract

Design Requirements and User Interfacing for a Rehabilitation Robot for the Lower Limbs

Cited by 1 publication

References 3 publications

An adaptive haptic interaction architecture for knee rehabilitation robot

An adaptive haptic interaction architecture for knee rehabilitation robot

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