NDLI: Neurorehabilitation robot system for neurological patients using H-infinity impedance controller

Content Provider	IEEE Xplore Digital Library
Author	Wooram Kim Dongbock Lee Deokwon Yun Younghoon Ji Minsung Kang Jungsoo Han Changsoo Han
Copyright Year	2015
Description	Author affiliation: Dept. of Robot Eng., Hanyang Univ. ERICA, Ansan, South Korea (Changsoo Han) \|\| Dept. of Mech. Syst. Eng., Hansung Univ., Seoul, South Korea (Jungsoo Han) \|\| Dept. of Mechatron. Eng., Hanyang Univ. ERICA, Ansan, South Korea (Wooram Kim; Younghoon Ji) \|\| Dept. of Interdiscplinary Eng. Syst., Hanyang Univ. ERICA, Ansan, South Korea (Minsung Kang) \|\| Dept. of Mech. Eng., Hanyang Univ., Seoul, South Korea (Dongbock Lee; Deokwon Yun)
Abstract	Patients with paralyzed upper extremities due to central nervous system lesion after stroke, traumatic brain injury and spinal cord injury receive rehabilitation therapy. The rehabilitation robot is studied for the effective therapy. To train the patients more effectively, it is necessary to study not only mechanisms of robots but also control strategy for rehabilitation. The purpose of various control algorithms for therapy is to implement various training repetitively and intensively. Then, these control strategies can induce the plasticity of motors and brain and improve patient's motor recovery. In this paper, we propose the upper limb robot system for neurorehabilitation. This robot is combined with the path control algorithm applying H-infinity optimization to impedance control for virtual tunnel. We present the entire robot system, robot's mechanism and procedure of optimizing the path controller for robustness. Also, the robot system is verified by test with a healthy person before it applies to the paralyzed patients.
Starting Page	876
Ending Page	881
File Size	1305368
Page Count	6
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281313
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-11
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	H-infinity control Stroke Robot kinematics Force Medical treatment Robotic Impedance control H infinity control Neurorehabilitation Impedance Mathematical model
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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