Study on Bilateral Exercise Interface Techniques for Active Rehabilitation of the Upper Limb Hemiplegia

상지 편마비 환자의 능동형 재활운동을 위한 양측성 훈련 인터페이스 기법에 대한 연구

  • Eom, Su-Hong (Department of Electronic Engineering, Korea Polytechnic University) ;
  • Song, Ki-Sun (Department of Electronic Engineering, Korea Polytechnic University) ;
  • Jang, Mun-Suck (Department of Electronic Engineering, Korea Polytechnic University) ;
  • Lee, Eung-Hyuk (Department of Electronic Engineering, Korea Polytechnic University)
  • 엄수홍 (한국산업기술대학교 전자공학과) ;
  • 송기선 (한국산업기술대학교 전자공학과) ;
  • 장문석 (한국산업기술대학교 전자공학과) ;
  • 이응혁 (한국산업기술대학교 전자공학과)
  • Received : 2015.02.15
  • Accepted : 2015.03.15
  • Published : 2015.06.01


For the self-directed rehabilitation of upper extremity hemiplegia patients, in this paper we propose an interface method capable of doing bilateral exercises in rehabilitation robotics. This is a method for estimating information of movements from the unaffected-side, and projects it to the affected-side in order. That the affected-side is followed the movements of the unaffected-side. For estimation of the unaffected-side movements information, gyro sensor data and acceleration sensor data were fused. In order to improve the measurement error in data fusion, a HDR filter and a complementary filter were applied. Estimated motion information is derived the one side of the drive input of rehabilitation robot. In order to validate the proposed method, experimental equipment is designed to be similar to the body's joints. The verification was performed by comparing the estimation angle data from inertial sensors and the encoder data which were attached to the mechanism.


Supported by : 정보통신기술진흥센터, 산업자원부


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