Control of robot assistant for rehabilitation of upper extremities

Author

Kostic, Milos D. ; Popovic, Mirjana B. ; Popovic, Dejan B.

Author_Institution

Sch. of Electr. Eng., Univ. of Belgrade, Belgrade, Serbia

fYear

2012

fDate

Aug. 28 2012-Sept. 1 2012

Firstpage

3918

Lastpage

3921

Abstract

The assisted movement in humans with paresis of upper extremities is becoming popular for neurorehabilitation. We propose a novel method for trajectory selection and assistance control. This paper presents simulation of a planar two degrees of freedom robot that assists horizontal movement of the hand. The control assumes that during the exercise the hand needs to follow healthy alike trajectories. The robot is assumed to provide minimal assistance and operate as a teacher of the movement.

Keywords

biomechanics; cellular biophysics; medical robotics; muscle; patient rehabilitation; healthy alike trajectories; horizontal movement; humans movement; neurorehabilitation; paresis; robot assistant control; trajectory selection; upper extremities; Acceleration; Force; Humans; Mathematical model; Robot sensing systems; Trajectory; Algorithms; Computer Simulation; Humans; Motor Activity; Rehabilitation; Robotics; Therapy, Computer-Assisted; Upper Extremity;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE

Conference_Location

San Diego, CA

ISSN

1557-170X

Print_ISBN

978-1-4244-4119-8

Electronic_ISBN

1557-170X

Type

conf

DOI

10.1109/EMBC.2012.6346823

Filename

6346823