NDLI: Cooperation of electrically stimulated muscle and pneumatic muscle to realize RUPERT bi-directional motion for grasping

Content Provider	IEEE Xplore Digital Library
Author	Xikai Tu Jiping He Yue Wen Jian Huang Xinhan Huang Hailong Huang Meng Guo Yong Yuan
Copyright Year	2014
Description	Author affiliation: Neural Interface & Rehabilitation Technol. Res. Center, Huazhong Univ. of Sci. & Technol., Wuhan, China (Xikai Tu; Jiping He; Yue Wen; Jian Huang; Xinhan Huang; Hailong Huang; Meng Guo; Yong Yuan)
Abstract	Robot-assisted rehabilitation is an active area of research to meet the demand of repetitive therapy in stroke rehabilitation. Robotic upper-extremity repetitive trainer (RUPERT) with its unidirectional pneumatic muscle actuation (PMA) can be used by most stroke patients that have difficulty moving in one direction because of a weak agonist or hyperactive antagonist. In this research, to broaden the usage of RUPERT, we not only add grasping functionality to the rehabilitation robot with the help of surface Functional Electrical Stimulation (FES) but also realize the robot joint bi-directional motion by using a PMA in cooperation with surface FES evoked paralyzed muscle force. This integrative rehabilitation strategy is explored for training patients to practice coordinated reaching and grasping functions. The effectiveness of this FES electrically evoked bio-actuator way is verified through a method that separates the mixed electromyogram (MEMG) into the electrically evoked electromyogram (EEMG) and voluntary electromyogram (VEMG). This is a promising approach to alleviate the size and mechanical complexity of the robot, thereby the cost of the joint bi-directional actuator rehabilitation robot by means of their own characteristics of stroke subjects.
Sponsorship	IEEE Eng. Med. Biol. Soc.
Starting Page	4103
Ending Page	4106
File Size	803522
Page Count	4
File Format	PDF
ISBN	9781424479290
ISSN	1557170X
DOI	10.1109/EMBC.2014.6944526
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Elbow Muscles Shoulder Robot kinematics Grasping
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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