Study on the center-driven multiple degrees of freedom upper limb rehabilitation training robot_Journal of Biomedical Engineering

Authors：

HUANG Xiaohai ^1,2,3 ,  YU Hongliu ^1,2,3 , WANG Jinchao ^1,2,3 , DONG Qi ^1,2,3 , ZHANG Linling ^1,2,3 , MENG Qiaoling ^1,2,3 , LI Sujiao ^1,2,3 , WANG Duojin ^1,2,3

1. Institute of Biomechanics and Rehabilitation Engineering, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, P.R.China;
2. Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, P.R.China;
3. Key Laboratory of Nerve Function Information and Rehabilitation Engineering, Shanghai 200093, P.R.China;

Corresponding author：

YU Hongliu, Email: yhl98@hotmail.com

Keywords：

upper limb rehabilitation; robot; cable transmission; center-driven

DOI：

10.7507/1001-5515.201703052

Video：

Export PDF Favorites Scan Get Citation

Abstract Full text Figures/Tables Video References Cited by

With the aging of the society, the number of stroke patients has been increasing year by year. Compared with the traditional rehabilitation therapy, the application of upper limb rehabilitation robot has higher efficiency and better rehabilitation effect, and has become an important development direction in the field of rehabilitation. In view of the current development status and the deficiency of upper limb rehabilitation robot system, combined with the development trend of all kinds of products of the upper limb rehabilitation robot, this paper designed a center-driven upper limb rehabilitation training robot for cable transmission which can help the patients complete 6 degrees of freedom (3 are driven, 3 are underactuated) training. Combined the structure of robot with more joints rehabilitation training, the paper choosed a cubic polynomial trajectory planning method in the joint space planning to design two trajectories of eating and lifting arm. According to the trajectory equation, the movement trajectory of each joint of the robot was drawn in MATLAB. It laid a foundation for scientific and effective rehabilitation training. Finally, the experimental prototype is built, and the mechanical structure and design trajectories are verified.

Citation： HUANG Xiaohai, YU Hongliu, WANG Jinchao, DONG Qi, ZHANG Linling, MENG Qiaoling, LI Sujiao, WANG Duojin. Study on the center-driven multiple degrees of freedom upper limb rehabilitation training robot. Journal of Biomedical Engineering, 2018, 35(3): 452-459. doi: 10.7507/1001-5515.201703052 Copy

1.	周培毅, 吴自强, 谢志泉, 等. 脑卒中危险因素的研究进展. 中国老年学杂志, 2012, 32(16): 3590-3594.
2.	王陇德. 中国脑卒中防治报告. 北京: 中国协和医科大学出版社, 2015.
3.	张青萍, 梁妮, 胡玉英, 等. 综合康复对社区脑卒中患者全面康复的影响研究. 光明中医, 2011, 26(5): 1068-1069.
4.	王红丽. 脑卒中患者的社会心理现状及急诊护理干预. 中国医药导刊, 2011, 13(11): 1972-1973.
5.	王陇德. 脑卒中筛查与干预: 一项重大的国民保健工程. 中国实用内科杂志, 2010(11): 15-17.
6.	Adebiyi D A. Fabrication and characterization of beta-prototype MIT Manus: an intelligent machine for upper-limb physical therapy. Cambridge: Massachusetts Institute of Technology, 2008.
7.	王志强, 姜洪源, Kamink R. 康复机器人辅助人体站立的关节力矩模拟与试验研究. 中国康复医学杂志, 2014, 29(9): 847-850.
8.	Lum P S, Burgar C G, Shor P C, et al. Robot-assisted movement training compared with conventional therapy techniques for the rehabilitation of upper-limb motor function after stroke. Arch Phys Med Rehabil, 2002, 83(7): 952-959.
9.	葛黎黎. 上肢康复医疗机器人运动学及动力学分析. 武汉: 华中科技大学, 2009.
10.	王月姣, 李会军, 宋爱国. 单自由度远程康复训练机器人系统设计. 测控技术, 2009, 28(7): 41-45.
11.	Masiero S, Armani M, Rosati G. Upper-limb robot-assisted therapy in rehabilitation of acute stroke patients: Focused review and results of new randomized controlled trial. J Rehabil Res Dev, 2011, 48(4): 355-366.
12.	Fong J, Crocher V, Oetomo D, et al. Effects of robotic exoskeleton dynamics on joint recruitment in a neurorehabilitation context// 2015 IEEE International Conference on Rehabilitation Robotics (ICORR). Singapore: IEEE, 2015: 834-839.
13.	Coote S, Murphy B, Harwin W, et al. The effect of the GENTLE/s robot-mediated therapy system on arm function after stroke. Clin Rehabil, 2008, 22(5): 395-405.
14.	Nef T, Riener R. ARMin-design of a novel arm rehabilitation robot// 9th International Conference on Rehabilitation Robotics. Chicago: ICORR, 2005: 57-60.
15.	Turchetti G, Vitiello N, Trieste L, et al. Why effectiveness of robot-mediated neurorehabilitation does not necessarily influence its adoption. IEEE Rev Biomed Eng, 2014, 7: 143-153.
16.	Fong J, Crocher V, Oetomo D, et al. An investigation into the reliability of upper-limb robotic exoskeleton measurements for clinical evaluation in neurorehabilitation// 2015 7th International IEEE/EMBS Conference on Neural Engineering (NER). Montpellier: IEEE, 2015: 795-798.
17.	张晓颖. 上肢多关节复合运动系统(Multi-Joint System, MJS)应用于骨折患者的临床疗效评估.中国医师协会康复医师分会第二届骨科康复论坛. 北京: 中国医师协会康复医师分会骨骼肌肉康复专业委员会, 2013: 2.
18.	Perry J C, Rosen J, Burns S. Upper-limb powered exoskeleton design. IEEE/ASME Transactions on Mechatronics, 2007, 12(4): 408-417.
19.	康宇华. 关节活动范围研究现状. 中国康复医学杂志, 2001, 16(1): 57-59.
20.	胡宇川, 季林红. 从医学角度探讨偏瘫上肢康复训练机器人的设计. 中国临床康复, 2004, 8(34): 7754-7756.
21.	Duncan P W, Zorowitz R, Bates B, 等. 成人卒中康复治疗的管理临床实践指南. 国际脑血管病杂志, 2006(01): 11-53.
22.	王金超, 雷毅, 喻洪流, 等. 一种新型智能交互式上肢康复机器人研究. 中国康复医学杂志, 2016, 31(12): 1371-1374.

1. 周培毅, 吴自强, 谢志泉, 等. 脑卒中危险因素的研究进展. 中国老年学杂志, 2012, 32(16): 3590-3594.
2. 王陇德. 中国脑卒中防治报告. 北京: 中国协和医科大学出版社, 2015.
3. 张青萍, 梁妮, 胡玉英, 等. 综合康复对社区脑卒中患者全面康复的影响研究. 光明中医, 2011, 26(5): 1068-1069.
4. 王红丽. 脑卒中患者的社会心理现状及急诊护理干预. 中国医药导刊, 2011, 13(11): 1972-1973.
5. 王陇德. 脑卒中筛查与干预: 一项重大的国民保健工程. 中国实用内科杂志, 2010(11): 15-17.
6. Adebiyi D A. Fabrication and characterization of beta-prototype MIT Manus: an intelligent machine for upper-limb physical therapy. Cambridge: Massachusetts Institute of Technology, 2008.
7. 王志强, 姜洪源, Kamink R. 康复机器人辅助人体站立的关节力矩模拟与试验研究. 中国康复医学杂志, 2014, 29(9): 847-850.
8. Lum P S, Burgar C G, Shor P C, et al. Robot-assisted movement training compared with conventional therapy techniques for the rehabilitation of upper-limb motor function after stroke. Arch Phys Med Rehabil, 2002, 83(7): 952-959.
9. 葛黎黎. 上肢康复医疗机器人运动学及动力学分析. 武汉: 华中科技大学, 2009.
10. 王月姣, 李会军, 宋爱国. 单自由度远程康复训练机器人系统设计. 测控技术, 2009, 28(7): 41-45.
11. Masiero S, Armani M, Rosati G. Upper-limb robot-assisted therapy in rehabilitation of acute stroke patients: Focused review and results of new randomized controlled trial. J Rehabil Res Dev, 2011, 48(4): 355-366.
12. Fong J, Crocher V, Oetomo D, et al. Effects of robotic exoskeleton dynamics on joint recruitment in a neurorehabilitation context// 2015 IEEE International Conference on Rehabilitation Robotics (ICORR). Singapore: IEEE, 2015: 834-839.
13. Coote S, Murphy B, Harwin W, et al. The effect of the GENTLE/s robot-mediated therapy system on arm function after stroke. Clin Rehabil, 2008, 22(5): 395-405.
14. Nef T, Riener R. ARMin-design of a novel arm rehabilitation robot// 9th International Conference on Rehabilitation Robotics. Chicago: ICORR, 2005: 57-60.
15. Turchetti G, Vitiello N, Trieste L, et al. Why effectiveness of robot-mediated neurorehabilitation does not necessarily influence its adoption. IEEE Rev Biomed Eng, 2014, 7: 143-153.
16. Fong J, Crocher V, Oetomo D, et al. An investigation into the reliability of upper-limb robotic exoskeleton measurements for clinical evaluation in neurorehabilitation// 2015 7th International IEEE/EMBS Conference on Neural Engineering (NER). Montpellier: IEEE, 2015: 795-798.
17. 张晓颖. 上肢多关节复合运动系统(Multi-Joint System, MJS)应用于骨折患者的临床疗效评估.中国医师协会康复医师分会第二届骨科康复论坛. 北京: 中国医师协会康复医师分会骨骼肌肉康复专业委员会, 2013: 2.
18. Perry J C, Rosen J, Burns S. Upper-limb powered exoskeleton design. IEEE/ASME Transactions on Mechatronics, 2007, 12(4): 408-417.
19. 康宇华. 关节活动范围研究现状. 中国康复医学杂志, 2001, 16(1): 57-59.
20. 胡宇川, 季林红. 从医学角度探讨偏瘫上肢康复训练机器人的设计. 中国临床康复, 2004, 8(34): 7754-7756.
21. Duncan P W, Zorowitz R, Bates B, 等. 成人卒中康复治疗的管理临床实践指南. 国际脑血管病杂志, 2006(01): 11-53.
22. 王金超, 雷毅, 喻洪流, 等. 一种新型智能交互式上肢康复机器人研究. 中国康复医学杂志, 2016, 31(12): 1371-1374.

Journal of Biomedical Engineering

Study on the center-driven multiple degrees of freedom upper limb rehabilitation training robot

Abstract Full text Figures/Tables Video References Cited by

Previous Article

Next Article

Format

Content