Haghshenas-Jaryani Mahdi, Pande Charu, Muthu Wijesundara B J
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:337-342. doi: 10.1109/ICORR.2019.8779510.
This paper presents the development of a pneumatically actuated soft robotic based bilateral therapy system for hand rehabilitation in post-stroke patients. The goal is to use a healthy hand to guide the motion of the paretic hand using a sensorized glove and a robotic exoskeleton, respectively. The sensorized glove tracks the motion of the healthy hand and provides inputs for the soft robotic hand exoskeleton to apply mimicking motion to the paretic hand. Two control algorithms, PD flow-based and adaptive PD pressure-based position controls, were developed and tested. Initial tests confirmed the ability of the systems to apply bilateral therapy. Furthermore, the adaptive pressure-based controller showed better performance with overall error reduced by 25.8% with respect to the flow-based controller. Future studies will include feasibility and performance of the system for applying therapy to post-stroke patients.
本文介绍了一种用于中风后患者手部康复的气动驱动软机器人双边治疗系统的开发。目标是分别使用带传感器的手套和机器人外骨骼，用健康的手来引导患侧手的运动。带传感器的手套跟踪健康手的运动，并为软机器人手部外骨骼提供输入，以便对患侧手施加模仿运动。开发并测试了两种控制算法，即基于PD流量的控制算法和基于自适应PD压力的位置控制算法。初步测试证实了该系统进行双边治疗的能力。此外，基于自适应压力的控制器表现出更好的性能，与基于流量的控制器相比，总体误差降低了25.8%。未来的研究将包括该系统对中风后患者进行治疗的可行性和性能。
