Soft wrist rehabilitation robot

Soft wrist rehabilitation robot

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Ageing society in many countries has led to an increasing number of stroke and cerebral palsy patients who require rehabilitation therapy. Affected wrist joints often show an increased spasticity and stiffness, caused by impairments of the surrounding muscles and tendons. However, the medical devices for wrist joint assessment and rehabilitation are lacking. The goal of this chapter is to develop and control a robotic orthosis to assist the patient's wrist to perform rehabilitation exercise in a compliant way. A one-degree of freedom (DOF) robotic device with parallel mechanism was designed for the wrist joint by utilising pneumatic artificial muscles (PAMs) that are compliant and lightweight. Mechanical design of the wrist orthosis and the corresponding development of pneumatic control system were presented. A model-based pressure close-loop control strategy was implemented for the PAMs in order to track the trajectory in high-performance. Experiments on the orthosis demonstrated that the robot could assist the hand to move along a torque-sensitive trajectory with small errors and the differential forces were also kept stable.

Chapter Contents:

  • 5.1 Introduction
  • 5.2 Device design
  • 5.3 Force and torque distribution
  • 5.4 Control strategies
  • 5.4.1 Pneumatic setup
  • 5.4.2 Model-based control
  • 5.4.3 Feedback-based control
  • 5.4.4 Design comparison
  • 5.5 System integration and experiments
  • 5.5.1 Software architecture
  • 5.5.2 Experiments
  • 5.6 Summary
  • References

Inspec keywords: geriatrics; muscle; patient rehabilitation; pneumatic control equipment; orthotics; biomechanics; medical robotics

Other keywords: parallel mechanism; wrist joints; robotic orthosis; pneumatic artificial muscles; soft wrist rehabilitation robot; robotic device; stiffness; cerebral palsy patients; model-based pressure close-loop control strategy; torque-sensitive trajectory; mechanical design; spasticity; pneumatic control system; stroke patients; ageing society; rehabilitation exercise

Subjects: Prosthetics and other practical applications; Patient care and treatment; Biological and medical control systems; Robotics; Hydraulic and pneumatic control equipment; Prosthetics and orthotics

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