Paper Info
Title
Robot-assisted upper-limb progressive anti-resistance training and clinical experimental study.
Abstract
The purpose of our study is to develop a new fuzzy adaptive impedance force supervisory control method to solve the problem where the training resistive force can not be real-time regulated with the recovery level of the impaired limb's muscle strength in the upper-limb progressive anti-resistance training. A hierarchical fuzzy adaptive force controller including high-level basal resistive force fuzzy regulator and low-level fuzzy impedance force controller is constructed. The high-level regulator is developed to obtain the basal resistive force for each training session based on the evaluation of the imparied limb's recovery level while the low-level controller is designed to further adjust the interactive force between the robot and impaired limb. Clinical experimental results on two recruited stroke patients verify the effectiveness and potentialities of the proposed therapy control strategy. © 2011 IEEE.
Year
DOI
Venue
2011
10.1109/ROBIO.2011.6181568
ROBIO
Keywords
Field
DocType
impedance,force,adaptive control,fuzzy control,robots,human robot interaction,real time,supervisory control,resistance training
Control theory,Control theory,Simulation,Supervisory control,Resistive touchscreen,Fuzzy logic,Control engineering,Engineering,Fuzzy control system,Adaptive control,Robot,Human–robot interaction
Conference
Volume
Issue
Citations 
null
null
0
PageRank 
References 
Authors
0.34
4
7
Name
Order
Citations
PageRank
Guozheng Xu1526.89
Aiguo Song254686.46
Huijun Li37614.37
Jianwei Cui4273.37
zhiwei liang5169.28
Baoguo Xu67813.67
Lizheng Pan7112.45