دورية أكاديمية
Design and Control of Upper Limb Rehabilitation Training Robot Based on a Magnetorheological Joint Damper.
| العنوان: | Design and Control of Upper Limb Rehabilitation Training Robot Based on a Magnetorheological Joint Damper. |
|---|---|
| المؤلفون: | Zhu J; College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China.; College of Information Science and Engineering, Jiaxing University, Jiaxing 314001, China., Hu H; College of Information Science and Engineering, Jiaxing University, Jiaxing 314001, China., Zhao W; College of Information Science and Engineering, Jiaxing University, Jiaxing 314001, China., Yang J; College of Information Science and Engineering, Jiaxing University, Jiaxing 314001, China., Ouyang Q; College of Information Science and Engineering, Jiaxing University, Jiaxing 314001, China.; School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210044, China.; Taizhou Jiuju Technology Co., Ltd., Taizhou 318000, China. |
| المصدر: | Micromachines [Micromachines (Basel)] 2024 Feb 22; Vol. 15 (3). Date of Electronic Publication: 2024 Feb 22. |
| نوع المنشور: | Journal Article |
| اللغة: | English |
| بيانات الدورية: | Publisher: MDPI Country of Publication: Switzerland NLM ID: 101640903 Publication Model: Electronic Cited Medium: Print ISSN: 2072-666X (Print) Linking ISSN: 2072666X NLM ISO Abbreviation: Micromachines (Basel) Subsets: PubMed not MEDLINE |
| أسماء مطبوعة: | Original Publication: Basel, Switzerland : MDPI, [2010]- |
| مستخلص: | In recent years, rehabilitation robots have been developed and used in rehabilitation training for patients with hemiplegia. In this paper, a rehabilitation training robot with variable damping is designed to train patients with hemiplegia to recover upper limb function. Firstly, a magnetorheological joint damper (MR joint damper) is designed for the rehabilitation training robot, and its structural design and dynamic model are tested theoretically and experimentally. Secondly, the rehabilitation robot is simplified into a spring-damping system, and the rehabilitation training controller for human movement is designed. The rehabilitation robot dynamically adjusts the excitation current according to the feedback speed and human-machine interaction torque, so that the rehabilitation robot always outputs a stable torque. The magnetorheological joint damper acts as a clutch to transmit torque safely and stably to the robot joint. Finally, the upper limb rehabilitation device is tested. The expected torque is set to 20 N, and the average value of the output expected torque during operation is 20.02 N, and the standard deviation is 0.635 N. The output torque has good stability. A fast (0.5 s) response can be achieved in response to a sudden motor speed change, and the average expected output torque is 20.38 N and the standard deviation is 0.645 N, which can still maintain the stability of the output torque. |
| References: | IEEE Trans Neural Syst Rehabil Eng. 2019 Oct;27(10):2216-2228. (PMID: 31443038) J Neuroeng Rehabil. 2014 Jan 09;11:3. (PMID: 24401110) Nutrients. 2020 Jun 29;12(7):. (PMID: 32610491) Am J Occup Ther. 2016 Jan-Feb;70(1):7001350010p1-7001350010p10. (PMID: 26709433) Med Eng Phys. 2016 Jul;38(7):587-606. (PMID: 27117423) Sci Rep. 2023 Oct 16;13(1):17507. (PMID: 37845368) J Neuroeng Rehabil. 2006 Oct 06;3:24. (PMID: 17022828) Hum Mov Sci. 2003 Aug;22(3):297-320. (PMID: 12967760) Materials (Basel). 2023 Apr 18;16(8):. (PMID: 37110006) J Biol Regul Homeost Agents. 2020 Sep-Oct;34(5 Suppl. 3):201-208. Technology in Medicine. (PMID: 33386050) IEEE Trans Haptics. 2015 Apr-Jun;8(2):140-51. (PMID: 25838528) Micromachines (Basel). 2022 Nov 21;13(11):. (PMID: 36422465) |
| معلومات مُعتمدة: | 2020AY10036 Jiaxing Municipal Science and Technology Project; LQ22E050018, LGG20E050022 Zhejiang Provincial Natural Science Foundation of China; 51805209 Natural Science Foundation of China (NSFC) grant funded by the Chinese Government; CD70623001 Qin Shen Scholar Program of Jiaxing University; LTGY24E050001 Zhejiang Provincial Natural Science Foundation of China |
| فهرسة مساهمة: | Keywords: magnetorheological joint damper; rehabilitation training; safety testing; trajectory tracking control; upper limb rehabilitation robot |
| تواريخ الأحداث: | Date Created: 20240328 Latest Revision: 20240330 |
| رمز التحديث: | 20240330 |
| مُعرف محوري في PubMed: | PMC10971917 |
| DOI: | 10.3390/mi15030301 |
| PMID: | 38542548 |
| قاعدة البيانات: | MEDLINE |
Full Text Finder | تدمد: | 2072-666X |
|---|---|
| DOI: | 10.3390/mi15030301 |