Robotic mirror therapy system for lower limb rehabilitation
文献类型：期刊论文
| 作者 | Cheng, Gaoxin1,2,3; Xu, Linsen2 ; Xu, Jiajun3; Liu, Jinfu3; Shi, Jia3; Chen, Shouqi3; Liu, Lei3; Liang, Xingcan3; Liu, Yang4
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| 刊名 | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
 |
| 出版日期 | 2020-10-30 |
| ISSN号 | 0143-991X |
| 关键词 | Active training Lower limb rehabilitation robot Mirror therapy MR actuators Passive training |
| DOI | 10.1108/IR-06-2020-0112 |
| 通讯作者 | Xu, Linsen(lsxu@iamt.ac.cn) |
| 英文摘要 | Purpose This paper aims to develop a robotic mirror therapy system for lower limb rehabilitation, which is applicable for different patients with individual movement disability levels. Design/methodology/approach This paper puts forward a novel system that includes a four-degree-of-freedom sitting/lying lower limb rehabilitation robot and a wireless motion data acquisition system based on mirror therapy principle. The magnetorheological (MR) actuators are designed and manufactured, whose characteristics are detected theoretically and experimentally. The passive training control strategy is proposed, and the trajectory tracking experiments verify its feasibility. Also, the active training controller that is adapt to the human motor ability is designed and evaluated by the comparison experiments. Findings The MR actuators produce continuously variable and compliant torque for robotic joints by adjusting excitation current. The reference limb joint position data collected by the wireless motion data acquisition system can be used as the motion trajectory of the robot to drive the affected limb. The passive training strategy based on proportional-integral control proves to have great trajectory tracking performance through experiments. In the active training mode, by comparing the real-time parameters adjustment in two phases, it is certified that the proposed fuzzy-based regulated impedance controller can adjust assistance torque according to the motor ability of the affected limb. Originality/value The system developed in this paper fulfills the needs of robot-assisted mirror therapy for hemiplegic patients. |
| WOS关键词 | DESIGN ; STROKE ; DEVICE |
| 资助项目 | National Key Research and Development Plan[2017YFB1303200] |
| WOS研究方向 | Engineering ; Robotics |
| 语种 | 英语 |
| 出版者 | EMERALD GROUP PUBLISHING LTD |
| WOS记录号 | WOS:000590744000001 |
| 资助机构 | National Key Research and Development Plan |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/105352]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Xu, Linsen |
| 作者单位 | 1.Anhui Univ Sci & Technol, Huainan, Peoples R China 2.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei, Peoples R China 3.Univ Sci & Technol China, Hefei, Peoples R China 4.Hefei Univ Technol, Hefei, Peoples R China |
| 推荐引用方式 GB/T 7714 | Cheng, Gaoxin,Xu, Linsen,Xu, Jiajun,et al. Robotic mirror therapy system for lower limb rehabilitation[J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION,2020. |
| APA | Cheng, Gaoxin.,Xu, Linsen.,Xu, Jiajun.,Liu, Jinfu.,Shi, Jia.,...&Liu, Yang.(2020).Robotic mirror therapy system for lower limb rehabilitation.INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION. |
| MLA | Cheng, Gaoxin,et al."Robotic mirror therapy system for lower limb rehabilitation".INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION (2020). |
入库方式： OAI收割
来源：合肥物质科学研究院
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