Mirror-type rehabilitation training with dynamic adjustment and assistance for shoulder joint

The real physical image of the affected limb, which is difficult to move in the traditional mirror training, can be realized easily by the rehabilitation robots. During this training, the affected limb is often in a passive state. However, with the gradual recovery of the movement ability, active mi...

Full description

Saved in:
Bibliographic Details
Published in:Sheng wu yi xue gong cheng xue za zhi 2021-04, Vol.38 (2), p.351
Main Authors: Chen, Sheng, Yan, Yizhe, Xu, Guozheng, Gao, Xiang, Huang, Kangjin, Tai, Chun
Format: Article
Language:Chinese
Subjects:
Active mirrors
Adaptive control
Compensation
Control systems
Electromyography
Exercise Therapy - methods
Humans
Inertial platforms
Joints (anatomy)
Movement
Muscle Strength
Recovery
Rehabilitation
Rehabilitation robots
Robotics
Shoulder
Shoulder Joint
Training
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The real physical image of the affected limb, which is difficult to move in the traditional mirror training, can be realized easily by the rehabilitation robots. During this training, the affected limb is often in a passive state. However, with the gradual recovery of the movement ability, active mirror training becomes a better choice. Consequently, this paper took the self-developed shoulder joint rehabilitation robot with an adjustable structure as an experimental platform, and proposed a mirror training system completed by next four parts. First, the motion trajectory of the healthy limb was obtained by the Inertial Measurement Units (IMU). Then the variable universe fuzzy adaptive proportion differentiation (PD) control was adopted for inner loop, meanwhile, the muscle strength of the affected limb was estimated by the surface electromyography (sEMG). The compensation force for an assisted limb of outer loop was calculated. According to the experimental results, the control system can provide real-time a
ISSN:1001-5515
DOI:10.7507/1001-5515.202001053