Title :
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
fDate :
Aug. 28 2012-Sept. 1 2012
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;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-4119-8
Electronic_ISBN :
1557-170X
DOI :
10.1109/EMBC.2012.6346823
