http://www.sciencedirect.com/science/article/pii/S1877705812026227
Abstract
Amongst
the major challenges in post-stroke rehabilitation are the
repetitiveness nature of rehabilitation procedure, and the accessibility
of therapists for long-term treatment. In manual rehabilitation
procedure, the patient is subjected to repetitive mechanical movement of
the affected limb by the therapist. In one of the techniques called active-assist exercise,
the subject moves his affected limb along a specified trajectory with
the therapist guiding the motion. The therapist gives some assistance to
the subject to complete the course if deemed necessary and the
procedure repeats. The significant advantages of using robots in
assisting rehabilitation are its efficiency and it is fatigue free. The
robots however need to be developed to have the capability of human
therapist in providing the rehabilitation more naturally. In this paper,
the work focuses on developing a new framework for the robot controller
system. In particular, a low-level controller, which is in the form of
force controller based on impedance control theory is discussed. The
controller is capable of governing the active-assist exercise through
autonomous guidance during the therapeutic procedure based on the
Chedoke-McMaster stroke assessment method.
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