Advanced Robotics for Medical Rehabilitation: Current State - download pdf or read online

By Shane Xie

ISBN-10: 3319198955

ISBN-13: 9783319198958

ISBN-10: 3319198963

ISBN-13: 9783319198965

Focussing at the key applied sciences in constructing robots for quite a lot of clinical rehabilitation actions – in an effort to comprise robotics fundamentals, modelling and regulate, biomechanics modelling, rehabilitation thoughts, robotic suggestions, medical setup/implementation in addition to neural and muscular interfaces for rehabilitation robotic keep an eye on – this e-book is divided into components; a assessment of the present state-of-the-art, and up to date advances in robotics for scientific rehabilitation. either elements will comprise 5 sections for the 5 key components in rehabilitation robotics: (i) the higher limb; (ii) decrease limb for gait rehabilitation (iii) hand, finger and wrist; (iv) ankle for traces and sprains; and (v) using EEG and EMG to create interfaces among the neurological and muscular services of the sufferers and the rehabilitation robots.

Each bankruptcy presents an outline of the layout of the machine, the keep watch over method used, and the implementation and checking out to teach the way it fulfils the wishes of that categorical region of rehabilitation. The ebook will aspect new units, a few of that have by no means been released ahead of in any magazine or conference.

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Additional info for Advanced Robotics for Medical Rehabilitation: Current State of the Art and Recent Advances

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Hogan, Robot-aided neurorehabilitation: a novel robot for ankle rehabilitation. IEEE Trans. Rob. 25, 569–582 (2009) 42. J. Yoon, J. -B. Lim, Reconfigurable ankle rehabilitation robot for various exercises. J. Rob. Syst. 22, S15–S33 (2006) 43. A. G. S. G. Caldwell, A high-performance redundantly actuated mechanism for ankle rehabilitation. Int. J. Rob. Res. 28, 1216–1227 (2009) 44. M. Bernhardt, M. Frey, G. Colombo, T. Rahman, Hybrid force-position control yields cooperative behaviour of the rehabilitation robot LOKOMAT, in IEEE International Conference on Rehabilitation Robotics (2005), pp.

This family of actuators is constructed by placing an electric motor in series with a compliant elastic element. The compliant element therefore isolates the motor inertia from the actuator end point inertia and the force applied by the actuator can be regulated by controlling the deformation of the compliant element. These actuators are normally used with stiffness control and are in general utilised to influence the mechanical behaviour of the ankle joint rather than to provide large assistive moments.

However, the most tightly controlled loop in a rehabilitation robot typically deals with only one of the two interaction variables, and these control loops are considered as low-level controllers in this review. These lower level control loops of the interaction controllers are generally implemented using conventional position (or force) control to ensure that the desired motion (or force) is applied to the robot. 3 Control of Rehabilitation Robots 29 motion (or force) depending on the measured force (or motion) so that the overall behaviour of the robot resembles that of a mechanical system exhibiting the desired impedance or admittance.

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Advanced Robotics for Medical Rehabilitation: Current State of the Art and Recent Advances by Shane Xie


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