NDLI: A novel rehabilitation system supporting bilateral arm cooperative training

Content Provider	IEEE Xplore Digital Library
Author	Chunguang Li Inoue, Y. Tao Liu Shibata, K.
Copyright Year	2010
Description	Author affiliation: Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, 185 Miyanokuchi, Tosayamada-Cho, Kami-City, 782-8502, Japan (Chunguang Li; Inoue, Y.; Tao Liu; Shibata, K.)
Abstract	Numerous rehabilitation robots have been developed to deliver therapy for hemiplegic patients with a unilateral-disabled limb or for aged persons with motor-function degenerated limbs. Recently, much attention has been paid to the development of robots that support bilateral arm training in various patterns. It has been proved that the coordination of two limbs can reduce hypertonia and abnormal synergies compared to unilateral limb training. However, traditional robots realized different modes with the robot providing a corresponding force for the impaired limb. This paper proposes a novel bimanual training system. A subject controls master and slave terminal handles with his/her two limbs. The less impaired limb provides a corresponding force for the more impaired limb to achieve different training patterns. No matter in which mode, the two limbs accomplish symmetric movement. An experimental prototype was built. Frequency response test and training tests on 9 healthy subjects in active-resisted and active-assisted modes were performed. Experimental results confirm that the system can correctly respond a subject's commands if velocity was changed within the frequency range of 30 Hz. For each training mode, the average position error, and RMS (root mean square) values of position errors and velocity errors that between the reference values and actual values of a motion tracking task were reduced after practice. This proves the effectiveness of the system for self-assisted rehabilitation training.
Starting Page	5127
Ending Page	5132
File Size	1018982
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649428
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Training Force Robots Tracking Trajectory Torque Medical treatment
Content Type	Text
Resource Type	Article

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