Upper Limb Rehabilitation Robot Augmented with Wrist Controllability Measurement System

• Main Authors: Bing-Cheng Kung, 龔品誠
• Other Authors: Ming.-S. Ju
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/58321753316949198690

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 92 === 　　In our previous study, a shoulder-elbow rehabilitation robot was developed for neuro-rehabilitation of the upper extremity. The robot was designed to perform a two-dimensional motion in a planar workspace. A fuzzy logic controller was employed to realize the position and force control such that the robot could apply either resistant or assistant force on the subject’s wrist when the upper limb was performing a circular movement. A treatment protocol and the quantitative assessment technique were also developed. 　　The goals of this current study are two-fold. The first is to rebuild a new rehabilitation robot. The existing rehabilitation robot for upper limbs is oversized and overweight for clinical applications. A smaller rehabilitation robot is assembled onto a worktable and the control system is transformed from DOS to Windows environment. The new robot can perform well control to track a predefined circular or straight trajectory. The position errors of tracking were within the allowable error limit. 　　The second goal, is to verify found that the synergy patterns of stroke patients is highly correlated with their impaired motor function. One of the synergy patterns is that the strokes will pronate or supinate their forearms involuntarily when they move their elbow joints. A new torque measurement system is designed and installed on the old shoulder-elbow rehabilitation robot. The pronation/supination torque and the trajectory of tracking movement are recorded during the treatment procedure, and the pronation and supination torque of forearm are analyzed offline. The experimental results revealed that the synergy patterns of stroke subject could be detected and quantified while the subjects were performing the tracking movement on the transverse plane. As a contrast, the normal subjects performed less synergy patterns.