A novel approach for robot-assisted upper-limb rehabilitation: Progressive resistance training as a paradigm

作者：Xu, Guozheng^*; Gao, Xiang; Chen, Sheng; Wang, Qiang; Zhu, Bo; Li, Jinfei

来源：INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2017, 14(6): 1729881417736670.

DOI：10.1177/1729881417736670

• Rehabilitation robot
• therapeutic controller
• stroke
• progressive resistance training
• bio-impedance identification

This study presented a novel control approach for rehabilitation robotic system using the hybrid system theory and the subject's bio-damping and bio-stiffness parameters. Resistance training was selected as a paradigm. The proposed control architecture incorporated the physical therapist's behavior intervention, the stroke survivor's muscle strength changes, and the robotic device's motor control into a unified framework. The main focuses of this research were to (i) automatically monitor the subject's muscle strength changes using the online identified bio-damping/stiffness parameters; (ii) make decisions on the modification of the desired resistive force so as to coincide with the subject's muscle strength changes; and (iii) generate accommodating plans when the safety-related issues such as spasticity and the abnormal robotic working states happen during the execution of training tasks. A Barrett WAM compliant manipulator-based resistance training system and two experiments including four scenarios were developed to verify the proposed approach. Experimental results with healthy subjects showed that the hybrid system-based control architecture could administrate the subject's muscle strength changes and the robotic device's interventions in an automated and safe manner.

• 出版日期2017-11-21
• 单位南京邮电大学