Title :
RUPERT closed loop control design
Author :
Zhang, Hang ; Balasubramanian, Sivakumar ; Wei, Ruihua ; Austin, Hiroko ; Buchanan, Sharon ; Herman, Richard ; He, Jiping
Author_Institution :
Sch. of Biol. & Health Syst. Eng., Arizona State Univ., Tempe, AZ, USA
fDate :
Aug. 31 2010-Sept. 4 2010
Abstract :
Robot-assisted rehabilitation is an active area of research in the field of stroke rehabilitation. RUPERT is a wearable robotic exoskeleton powered by pneumatic muscle actuators. In this study, we described the structure of the controllers for the five degrees of freedom currently used by RUPERT. We applied the RUPERT on 6 stroke patients to provide robot-assisted rehabilitation therapy in a clinical study. Statistical χ2 test on the proportion of successfully reaching targets showed that 3 out of the 6 patients demonstrated significant improvement in reaching targets successfully, and the remaining 3 did not show performance improvement or deterioration. We plan to implement the RUPERT in the patient´s house for easier access and more frequent use. More significant performance results are expected.
Keywords :
closed loop systems; diseases; medical robotics; patient rehabilitation; pneumatic actuators; RUPERT closed loop control design; controller structure; pneumatic muscle actuators; robot assisted rehabilitation therapy; stroke rehabilitation; wearable robotic exoskeleton; Generators; Joints; Medical treatment; Robot kinematics; Testing; Training; χ2 test; PID controller; feedback control; rehabilitation robot; stroke; Arm; Biofeedback, Psychology; Computer-Aided Design; Humans; Movement Disorders; Orthotic Devices; Prosthesis Design; Robotics;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE
Conference_Location :
Buenos Aires
Print_ISBN :
978-1-4244-4123-5
DOI :
10.1109/IEMBS.2010.5627647
