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Control methods for exoskeleton rehabilitation robot driven with pneumatic muscles

Caihua Xiong (State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China)
Xianzhi Jiang (State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China)
Ronglei Sun (State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China)
XiaoLin Huang (Department of Rehabilitation Medicine, Tongji Hospital, Wuhan, China)
Youlun Xiong (State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 May 2009

1596

Abstract

Purpose

The purpose of this paper is to present the control methods of the exoskeleton robotic arm for stroke rehabilitation.

Design/methodology/approach

The robotic arm is driven by the pneumatic muscle actuators. The control system provides independent control for the robot. The joint axes of the robotic arm are arranged to mimic the natural upper limb workspace.

Findings

Findings are the classification of training modes and control methods of rehabilitation training, and the characters of both the instant spasm and the sustaining one.

Research limitations/implications

This paper is a preliminary step in the control system and the kinematical characteristics should be analyzed to achieve high precision of movement.

Originality/value

Based on a hierarchical structure, the control system allows the execution of sequence of switching control methods: position, force, force/position and impedance. Patient‐active‐robot‐passive and patient‐passive‐robot‐active (PPRA) training modes are also presented in this paper. In PPRA mode, the robotic arm can provide pre‐specified resistances on the patient's arm. Both instant and sustaining spasms are taken into account for safety.

Keywords

Citation

Xiong, C., Jiang, X., Sun, R., Huang, X. and Xiong, Y. (2009), "Control methods for exoskeleton rehabilitation robot driven with pneumatic muscles", Industrial Robot, Vol. 36 No. 3, pp. 210-220. https://doi.org/10.1108/01439910910950469

Publisher

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Emerald Group Publishing Limited

Copyright © 2009, Emerald Group Publishing Limited

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