지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,943 - 1,948 (6page)
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초록· 키워드
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Exercise dosage is proven to be an important factor in the physical treatment. Robot assistive approach can improve the rehabilitation quality and evaluate patient’s recovery quantitatively. This paper presents kinematic structure, assistive control system, and integrated F/T sensor for an upper limb rehabilitation robot. By using the human arm dynamic, there are three rehabilitation modes presented in this paper: active mode, assistive mode, and passive mode. In assistive mode, we have two strategies to implement it. One is to amplify interactive torque, and the other is to apply assist-as-needed concept. The goal of this mode is to assist patients to finish motion tasks. The rehabilitation robot under investigation has 7 degree of freedom (DOF) actuated by DC motors, which are programmed to drive the robot arm in the 3D space. To validate our control design, some realistic experiments are conducted and its satisfactory performance is demonstrated. This work is approved clinical testing by the Department of Health, Executive Yuan, R.O.C. So far, we are demonstrating the effect of our controller.
목차
Abstract
1. INTRODUCTION
2. DESIGN
3. CONTROL SYSTEM
4. SAFETY
5. EXPERIMENTAL RESULT
6. CONCLUSIONS AND FUTURE WORK
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