Robotic mirror therapy system for lower limb rehabilitation

doi:10.1108/IR-06-2020-0112

HFCAS OpenIR

	Robotic mirror therapy system for lower limb rehabilitation
	Cheng, Gaoxin 1,2,3; Xu, Linsen1 ; Xu, Jiajun 2; Liu, Jinfu 2; Shi, Jia 2; Chen, Shouqi 2; Liu, Lei2 ; Liang, Xingcan 2; Liu, Yang 4
	2020-10-30
发表期刊	INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
ISSN	0143-991X
通讯作者	Xu, Linsen(lsxu@iamt.ac.cn)
摘要	Purpose This paper aims to develop a robotic mirror therapy system for lower limb rehabilitation, which is applicable for different patients with individual movement disability levels. Design/methodology/approach This paper puts forward a novel system that includes a four-degree-of-freedom sitting/lying lower limb rehabilitation robot and a wireless motion data acquisition system based on mirror therapy principle. The magnetorheological (MR) actuators are designed and manufactured, whose characteristics are detected theoretically and experimentally. The passive training control strategy is proposed, and the trajectory tracking experiments verify its feasibility. Also, the active training controller that is adapt to the human motor ability is designed and evaluated by the comparison experiments. Findings The MR actuators produce continuously variable and compliant torque for robotic joints by adjusting excitation current. The reference limb joint position data collected by the wireless motion data acquisition system can be used as the motion trajectory of the robot to drive the affected limb. The passive training strategy based on proportional-integral control proves to have great trajectory tracking performance through experiments. In the active training mode, by comparing the real-time parameters adjustment in two phases, it is certified that the proposed fuzzy-based regulated impedance controller can adjust assistance torque according to the motor ability of the affected limb. Originality/value The system developed in this paper fulfills the needs of robot-assisted mirror therapy for hemiplegic patients.
关键词	Active training Lower limb rehabilitation robot Mirror therapy MR actuators Passive training
DOI	10.1108/IR-06-2020-0112
关键词[WOS]	DESIGN ; STROKE ; DEVICE
收录类别	SCI
语种	英语
资助项目	National Key Research and Development Plan[2017YFB1303200]
项目资助者	National Key Research and Development Plan
WOS研究方向	Engineering ; Robotics
WOS类目	Engineering, Industrial ; Robotics
WOS记录号	WOS:000590744000001
出版者	EMERALD GROUP PUBLISHING LTD
引用统计	被引频次：6[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/105353
专题	中国科学院合肥物质科学研究院
通讯作者	Xu, Linsen
作者单位	1.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei, Peoples R China 2.Univ Sci & Technol China, Hefei, Peoples R China 3.Anhui Univ Sci & Technol, Huainan, Peoples R China 4.Hefei Univ Technol, Hefei, Peoples R China
推荐引用方式 GB/T 7714	Cheng, Gaoxin,Xu, Linsen,Xu, Jiajun,et al. Robotic mirror therapy system for lower limb rehabilitation[J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION,2020.
APA	Cheng, Gaoxin.,Xu, Linsen.,Xu, Jiajun.,Liu, Jinfu.,Shi, Jia.,...&Liu, Yang.(2020).Robotic mirror therapy system for lower limb rehabilitation.INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION.
MLA	Cheng, Gaoxin,et al."Robotic mirror therapy system for lower limb rehabilitation".INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION (2020).