Design and control of a 3D robot-assisted rehabilitation device for post-stroke
With the ever-increasing population of stroke patients requiring rehabilitation therapy compared with the few available therapists, what is now crucial is an adaptive system that can complement closely the role of an expert therapist by sensing the patients’ muscle tone, physical recovery conditio...
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| Main Authors: | , |
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| Other Authors: | |
| Format: | Book Chapter |
| Language: | English |
| Published: |
Springer
2021
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/93197/1/93197_Design%20and%20control%20of%20a%203D%20robot-assisted.pdf http://irep.iium.edu.my/93197/ https://doi.org/10.1007/978-3-030-74540-0 |
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| Summary: | With the ever-increasing population of stroke patients requiring rehabilitation therapy compared with the few available therapists, what is now crucial
is an adaptive system that can complement closely the role of an expert therapist
by sensing the patients’ muscle tone, physical recovery condition, or sensorimotor
control performance to specify appropriate therapy and to provide an assessment.
A “high-level” adaptive hybrid impedance controller based on Modified Ashworth
Scale (MAS) assessment criteria for rehabilitation of the upper extremity of poststroke patients was therefore proposed and discussed in this chapter. An end-effectorbased 3 degree-of-freedom (3-DOF) rehabilitation platform was developed with the
proposed control strategy with the emphasis on proper joint coordination and control
to actualize effective trajectory tracking and consequently effective therapy. |
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