Aykut Cihan SATICI, Ahmetcan ERDOĞAN, Volkan PATOĞLU

A multi-lateral rehabilitation system

This paper proposes a multi-lateral shared control concept for robot assisted rehabilitation. In particular, a dual-user force-feedback teleoperation control architecture is implemented on a forearm-wrist rehabilitation system consisting of two kinematically dissimilar robotic devices. The multi-lateral rehabilitation system allows for patients to train with on-line virtual dynamic tasks in collaboration with a therapist. Different control authority can be assigned to each agent so that therapists can guide or evaluate movements of patients, or share the control with them. The collaboration is implemented using a dual-user force-feedback teleoperation control architecture, in which a dominance factor determines the authority of each agent in commanding the virtual task. The effectiveness of the controller and regulation of the dominance for each agent is experimentally verified.

Anahtar Kelimeler:

Robot-assisted rehabilitation, physical therapy for forearm and wrist, multi-lateral control architecture, wrist exoskeleton

A multi-lateral rehabilitation system

Keywords:

Robot-assisted rehabilitation, physical therapy for forearm and wrist, multi-lateral control architecture, wrist exoskeleton,

PDF

___

J. Furusho, T. Kikuchi, K. Oda, Y. Ohyama, T. Morita, N. Shichi, Y. Jin, and A. Inoue, “A 6-DoF rehabilitation support system for upper limbs including wrists ”Robotherapist” with physical therapy,” in Proceedings of the IEEE. Netherlands: 10th International Conference on Rehabilitation Robotics, June 2007.
L. Dovat, O. Lambercy, Y. Ruﬃeux, D. Chapuis, R. Gassert, H. Bleuler, C. Teo, and E. Burdet, “A haptic knob for rehabilitation of stroke patients,” in Proceedings of the 2006 IEEE/RSJ.
China: International Conference on Intelligent Robots and Systems, October 2006.
T. Nef, M. Mihelj, G. Colombo, and R. Riener, “ARMin - robot for rehabilitation of the upper extremities,” May , pp. 3152–3157.
L. Zhang, H. Park, and Y. Ren, “Developing an intelligent robotic arm for stroke rehabilitation,” in Proceedings of the IEEE. Netherlands: 10th International Conference on Rehabilitation Robotics, June 2007.
G. Yang, H. Ho, W. Chen, W. Lin, S. Yeo, and M. Kurbanhusen, “A haptic device wearable on a human arm,” in Proceedings of the 2004 IEEE. References
Singapore: Conference on Robotics, Automation and Mechatronics, December A. Gupta, M. O’Malley, V. Patoglu, and C. Burgar, “Design, control and performance of RiceWrist: A force feedback wrist exoskeleton for rehabilitation and training,” IEEE Transactions on Robotics Research, vol. 27, no. 2, pp. 233–251, February 2008.
R. Song, K. Tong, X. Hu, and X. Zheng, “Myoelectrically controlled robotic system that provide voluntary mechanical help for persons after stroke,” in Proceedings of the IEEE. Netherlands: 10th International Conference on Rehabilitation Robotics, June 2007.
C. Burgar, P. Lum, P. Shor, and H. V. der Loos, “Development of robots for rehabilitation therapy : The Palo Alto VA/Stanford experience,” Journal of Rehabilitation Research and Development, vol. 37, no. 6, pp. 663–673, November/December 2000.
H. Schmidt, S. Hesse, C. Werner, and A. Bardeleben, “Upper and lower extremity robotic devices to promote motor recovery after stroke - Recent developments,” in Proceedings of the 26th Annual International Conference of the IEEE EMBS, San Francisco, USA, September 2004.
M. Johnson, H. V. der Loos, C. Burgar, P. Shor, and L. Leifer, “Experimental results using force-feedback cueing in robot-assisted stroke therapy,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 13, pp. 335–348, 2005.
B. Khademian and K. Hashtrudi-Zaad, “A four-channel multilateral shared control architecture for dual-user teleoperation systems,” 29 2007-Nov. 2 2007, pp. 2660–2666.