Article
Automation & Control Systems
Leigang Zhang, Shuai Guo, Fengfeng Xi
Summary: Clinical research has shown that robot-mediated training is beneficial for stroke recovery by allowing high-intensity repetitive and task-oriented tasks. However, as the disability levels and rehabilitation stages vary among subjects, different training requirements need to be met. This paper proposes a performance-based assistance control strategy that includes three training modes switched by trajectory tracking error, namely, the zero interaction force mode, assist-as-needed mode, and restriction interaction region mode.
Article
Automation & Control Systems
Yu-Chia Huang, Huiwen Hu, Chia-Hsin Chen, Yi-Jen Chen, Kai-Chiao Chi
Summary: This paper proposed an assistive robot design for lower limbs rehabilitation using fuzzy control, with the aim to rejuvenate stroke patients' nervous system of motor function. The robot motion is driven from the patient's sole, and a discrete-time fuzzy control methodology has been applied to design a stable controller for the system. Preliminary experimental results demonstrate the effectiveness of the assistive robot in rehabilitating stroke patients.
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
(2021)
Article
Automation & Control Systems
Niloufar Sadat Seyfi, Ali Keymasi Khalaji
Summary: This research proposes a redundant cable-driven robust rehabilitation robot that helps and automates the proper function of patients' lower and upper limbs in the presence of uncertainties, disturbances, noise, and time delay. A new control algorithm is used to achieve the best tracking with minimal deviations. The efficiency and superior performance of the control algorithm, as well as the new path-planning approach, are demonstrated. The study shows significant improvements in the lower limb and upper limb with the existence of uncertainties, disturbances, noise, and time delay.
Article
Robotics
Efe Levent Oyman, Muhammed Yusuf Korkut, Cuneyt Ylmaz, Zeki Y. Bayraktaroglu, M. Selcuk Arslan
Summary: The design and control of a cable-driven rehabilitation robot allow for easily configuring exercises for different articulations without the need for orthosis. Three types of exercises – passive, active-assisted, and active-resisted – were implemented using impedance control. Experimental studies demonstrated the effectiveness of the proposed controller, achieving satisfactory closed-loop performances.
Article
Engineering, Biomedical
Wahab Amini Azar, Peiman Shah Nazar
Summary: With the increasing number of patients requiring physiotherapy, there is a growing demand for rehabilitation services. Different types of exercises play a significant role in helping patients recover their ability. Rehabilitation is a lengthy process that requires patience and continuous effort. The continuous improvement of rehabilitation equipment and the use of robots in rehabilitation are currently key areas of research.
BIOMEDICAL SIGNAL PROCESSING AND CONTROL
(2021)
Review
Thermodynamics
Jinman Zhou, Shuo Yang, Qiang Xue
Summary: Lower limb rehabilitation exoskeleton robots (LLRERs) play a positive role in rehabilitation and assistance for patients with lower limb disorders, with a need for further research and improvement to enhance adaptability and clinical significance.
ADVANCES IN MECHANICAL ENGINEERING
(2021)
Article
Biotechnology & Applied Microbiology
Qingyun Meng, Guanxin Liu, Xin Xu, Qiaoling Meng, Liang Qin, Hongliu Yu
Summary: A multi-degree-of-freedom ankle rehabilitation robot with an adjustable workspace has been designed for ankle joint rehabilitation training. The robot features a rotation center adapted to the human body, making it suitable for patients with ankle dysfunction following a stroke.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2023)
Article
Automation & Control Systems
Jie Zhou, Zhijun Li, Xianming Li, Xiaoyun Wang, Rong Song
Summary: This article introduces a trajectory deformation algorithm (TDA) to improve the compliance and movement smoothness of lower limb rehabilitation robots. Research results demonstrate that TDA can enhance robot performance and has potential applications in the field of human-robot interaction in rehabilitation.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Review
Engineering, Biomedical
Mingjie Dong, Yu Zhou, Jianfeng Li, Xi Rong, Wenpei Fan, Xiaodong Zhou, Yuan Kong
Summary: The study provides a systematic review of the state of the art in parallel ankle rehabilitation robot (PARR) technology, focusing on mechanism configurations, actuator types, and rehabilitation training methods. A total of 65 articles representing 16 unique PARRs were reviewed, revealing mechanical design considerations, actuator types, trajectory tracking control techniques, and the need for clinical trials to validate their effectiveness in rehabilitation. Future research is needed to improve trajectory tracking accuracy, interactive control performance, and develop multimode rehabilitation training methods to meet the needs of different ankle disabilities and rehabilitation stages.
JOURNAL OF NEUROENGINEERING AND REHABILITATION
(2021)
Article
Engineering, Electrical & Electronic
Moyao Gao, Zhanli Wang, Zaixiang Pang, Jianwei Sun, Jing Li, Shuang Li, Hansi Zhang
Summary: This study proposes an anthropomorphic design of an electrically driven, lower-limb exoskeleton rehabilitation robot to assist people with impairments in standing and walking. The robot has good comfort and flexibility, matching the human movement freedom. It provides effective assistance for patients' rehabilitation training.
Article
Engineering, Electrical & Electronic
Mingjie Dong, Jianping Yuan, Jianfeng Li
Summary: Lower limb rehabilitation robot can effectively restore the motor function of stroke patients through targeted and repetitive training. We developed a robot with rigid-flexible characteristics and different training methods to improve safety and comfort.
Article
Engineering, Mechanical
Di Shi, Wuxiang Zhang, Wei Zhang, Linhang Ju, Xilun Ding
Summary: The study proposes a human-centered adaptive control method for a lower limb rehabilitation robot, which overcomes errors and uncertainties by establishing human-robot interaction and dynamic models, and designing an adaptive controller to ensure system stability.
MECHANISM AND MACHINE THEORY
(2021)
Article
Computer Science, Information Systems
Tao Wang, Bin Zhang, Chenhao Liu, Tao Liu, Yi Han, Shuoyu Wang, Joao P. Ferreira, Wei Dong, Xiufeng Zhang
Summary: Research on lower limb exoskeletons for rehabilitation has rapidly developed to meet the needs of the aging population. This paper reviews the design, driving unit, intention perception, compliant control, and efficiency validation of rehabilitation exoskeletons, discussing the complexity and coupling of man-machine integration systems, and providing guidance for designing lower limb exoskeleton systems for elderly and disabled patients.
Review
Chemistry, Analytical
Layal Chaikho, Elizabeth Clark, Maxime Raison
Summary: This article discusses the choice of sensor type and control strategy for restoring lower limb functions through open-loop and closed-loop control strategies in transcutaneous FES. It provides a review of the latest control strategy solutions and suggests further research directions.
Article
Neurosciences
Ellen Binder, Martha Leimbach, Eva-Maria Pool, Lukas J. Volz, Simon B. Eickhoff, Gereon R. Fink, Christian Grefkes
Summary: The study found that neural activity underlying movements of the affected hand and foot in well-recovered stroke patients positively correlated with residual motor impairment, with significantly stronger increase in BOLD activity in M1 representations of the affected limb compared to healthy controls. Dynamic causal modeling revealed reduced endogenous connectivity of M1 of both limbs in patients, but no interhemispheric inhibition of the contralesional M1 during movements of the affected hand was detected. Positive interhemispheric M1 coupling was found for movements of the affected foot in both groups.
HUMAN BRAIN MAPPING
(2021)