NDLI: A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training.

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A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training.

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A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training.

Content Provider	World Health Organization (WHO)-Global Index Medicus
Author	Zhang, Jianbin Wang, Jianhua Chen, Weihai Cui, Xiang
Description	Country affiliation: China Author Affiliation: Chen W ( School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.); Cui X ( School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.); Zhang J ( School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.); Wang J ( School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.)
Abstract	Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a cable-driven wrist robotic rehabilitator (CDWRR) for motion training or assistance to subjects with motor disabilities. The CDWRR utilizes the wrist skeletal joints and arm segments as the supporting structure and takes advantage of cable-driven parallel design to build the system, which brings the properties of flexibility, low-cost, and low-weight. The controller of the CDWRR is designed typically based on a virtual torque-field, which is to plan 'assist-as-needed' torques for the spherical motion of wrist responding to the orientation deviation in wrist motion training. The torque-field controller can be customized to different levels of rehabilitation training requirements by tuning the field parameters. Additionally, a rapidly convergent parameter self-identification algorithm is developed to obtain the uncertain parameters automatically for the floating wearable structure of the CDWRR. Finally, experiments on a healthy subject are carried out to demonstrate the performance of the controller and the feasibility of the CDWRR on wrist motion training or assistance.
ISSN	00346748
Issue Number	6
Volume Number	86
e-ISSN	10897623
Journal	Review of Scientific Instruments
Language	English
Publisher	American Institute of Physics
Publisher Date	2015-06-01
Publisher Place	United States
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Musculoskeletal Manipulations Instrumentation Robotics Wrist Algorithms Biomechanical Phenomena Equipment Design Feasibility Studies Forearm Physiology Humans Models, Theoretical Motion Motor Activity Economics Methods Pattern Recognition, Automated Torque Uncertainty Journal Article Research Support, Non-u.s. Gov't Discipline Physics Discipline Chemistry
Content Type	Text
Resource Type	Article
Subject	Medicine Instrumentation

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