Abstract
In order to motivate the activity of patients in rehabilitation training, bimanual limb training has been applied widely in rehabilitation systems. Based on this point, we propose a self-controlled master-slave robot for upper limb rehabilitation. The system contains two identical motors with a wired-connection. Under the action of the external forces from the two limbs that attached to the master and slave sides, the motor exerted with a larger force works in generating state and acts as the master, while the other motor works in electro-motion state and acts as the slave. A certain amount of compensated energy, together with the recycled energy from the master, enables the slave to reproduce the master’s movements accurately. The system realizes bilateral force sensing and supports different operating modes. Subjects coordinate the force of the two limbs based on visual feedback, further, controlling the handles in the two terminals to accomplish the predefined motion. Preliminary tests on different operating modes were conducted. The results confirm that the motion of the slave is precisely consistent with that of the master, and verify that the subjects can learn how to accomplish movements by practice.
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Liu, T., Li, C., Inoue, Y., Shibata, K. (2010). A Self-controlled Master-Slave Robot and Its Application for Upper Limb Rehabilitation. In: Lay-Ekuakille, A., Mukhopadhyay, S.C. (eds) Wearable and Autonomous Biomedical Devices and Systems for Smart Environment. Lecture Notes in Electrical Engineering, vol 75. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15687-8_12
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DOI: https://doi.org/10.1007/978-3-642-15687-8_12
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