Paper Info
Title
Cooperation of electrically stimulated muscle and pneumatic muscle to realize RUPERT bi-directional motion for grasping.
Abstract
Robot-assisted rehabilitation is an active area of research to meet the demand of repetitive therapy in stroke rehabilitation. Robotic upper-extremity repetitive trainer (RUPERT) with its unidirectional pneumatic muscle actuation (PMA) can be used by most stroke patients that have difficulty moving in one direction because of a weak agonist or hyperactive antagonist. In this research, to broaden the usage of RUPERT, we not only add grasping functionality to the rehabilitation robot with the help of surface Functional Electrical Stimulation (FES) but also realize the robot joint bi-directional motion by using a PMA in cooperation with surface FES evoked paralyzed muscle force. This integrative rehabilitation strategy is explored for training patients to practice coordinated reaching and grasping functions. The effectiveness of this FES electrically evoked bio-actuator way is verified through a method that separates the mixed electromyogram (MEMG) into the electrically evoked electromyogram (EEMG) and voluntary electromyogram (VEMG). This is a promising approach to alleviate the size and mechanical complexity of the robot, thereby the cost of the joint bi-directional actuator rehabilitation robot by means of their own characteristics of stroke subjects.
Year
DOI
Venue
2014
10.1109/EMBC.2014.6944526
EMBC
Keywords
Field
DocType
electrically stimulated muscle,robot-assisted rehabilitation,medical robotics,rupert,neuromuscular stimulation,stroke rehabilitation,unidirectional pneumatic muscle actuation,bidirectional actuator rehabilitation robot,bidirectional motion,surface functional electrical stimulation,coordinated grasping functions,electrically evoked bioactuator,mixed electromyogram,integrative rehabilitation strategy,robotic upper-extremity repetitive trainer,grasping functionality,patient rehabilitation,evoked paralyzed muscle force,coordinated reaching functions,actuators,electromyography,eemg,memg,electrically evoked electromyogram,stroke patients,repetitive therapy,vemg,voluntary electromyogram,robot kinematics
Muscle force,Rehabilitation,Functional electrical stimulation,Difficulty moving,Computer science,Robot kinematics,Rehabilitation robot,Physical medicine and rehabilitation,Robot,Actuator
Conference
Volume
ISSN
Citations 
2014
1557-170X
0
PageRank 
References 
Authors
0.34
4
8
Name
Order
Citations
PageRank
Xikai Tu1224.47
Jiping He211017.46
Yue Wen3101.97
Jian Huang42608200.50
Xinhan Huang511419.04
Hailong Huang600.34
Meng Guo7123.18
Yong Yuan800.34