Novel wearable multi-DOF upper limb rehabilitation robot driven by pneumatic muscle

作者：Wu Jun^*; Wang Yongji; Huang Jian; Huo Weiguang

来源：Journal of Huazhong University of Science and Technology (Natural Science Edition), 2011, 39(SUPPL. 2): 279-282.

• Elbow extension
• Motor function
• Multi-DOF
• Multiple degrees of freedom
• PID controllers
• Pneumatic muscle
• Rehabilitation robot
• Rehabilitation training
• Repetitive training
• Trajectory tracking control
• Traumatic Brain Injuries
• Upper-limb rehabilitation
• Wearable

A novel wearable multiple degrees of freedom (multi-DOF) upper limb rehabilitation robot driven by pneumatic muscle was developed to provide rehabilitation training for motor dysfunction after stroke and traumatic brain injury. The robot can help patients complete repetitive training task for motor function of shoulder extension, should rotation, elbow extension, finger';smetacarpophalangeal (MP) extension and proximal interphalangeal (PIP) extension. Finally, PID controller was implemented and the trajectory tracking control for joint';s angles was realized. Experiments were performed to verify the availability of the proposed rehabilitation robot.

• 出版日期2011