Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Hybrid Position/Force Control of a 3-D Rehabilitation Robot System for Upper Extremities

상지 재활을 위한 3-D 로봇 시스템의 혼합 위치/힘 제어

  • Lee, Soo-Han (School of Mechanical and Automotive Engineering, Ulsan Univ.) ;
  • Shin, Kyu-Hyeon (Department of Mechanical and Automotive Engineering, Graduate School, Ulsan Univ.)
  • 이수한 (울산대학교 기계자동차공학부) ;
  • 신규현 (울산대학교 대학원 기계자동차공학과)
  • Received : 2010.11.15
  • Accepted : 2011.02.07
  • Published : 2011.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

A 3-D rehabilitation robot system is developed. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. In this paper, a hybrid position/force controller is used for controlling positions and forces simultaneously The controller is tuned according to the robot posture. The active motion modes for rehabilitation program consist of active-resisted motion mode and active-free motion mode. The results of the experiments show that the proposed motion modes provide the intended forces effectively.

Keywords

References

  1. Korea National Statistical Office, "Population Projections for Korea," 2007.
  2. Bardorfer, A., Munih, M., Zupan, A. and Primozic, A., "Upper Limb Motion Analysis Using Haptic Interface," IEEE/ASME Transactions on Mechatronics, Vol. 6, No. 3, pp. 253-260, 2001. https://doi.org/10.1109/3516.951363
  3. Bien, Z. N., Kim, D. J., Chung, M. J., Kwon, D. S. and Chang, P. H., "Development of a Wheelchairbased Rehabilitation Robotic System (KARES II) with Various Human-Robot Interaction Interface for the Disabled," Proceedings IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Vol. 2, pp. 902-907, 2003.
  4. Kim, J. H. and Han, T. Y., "Rehabilitation Medicine 2nd Edition," Koonja Publishing Inc., pp. 9-138, 2003.
  5. Cozens, J. A., "Robotic Assistance of an Active Upper Limb Exercise in Neurologically Impaired Patients," IEEE Transactions on Rehabilitation Engineering, Vol. 7, No. 2, pp. 254-256, 1999. https://doi.org/10.1109/86.769416
  6. Sakaguchi, M., Furusho, J. and Genda, E., "Basic Study on Rehabilitation Training System Using ER Actuators," Proceedings IEEE International Conference, Vol. 1, pp. 135-140, 1999.
  7. Morita, Y., Akagawa, K., Yamamoto, E., Ukai, H. and Matsui, N., "Basic Study on Rehabilitation Support System for Upper Limb Motor Function," Proceedings IEEE 7th International Workshop on Advanced Motion Control (AMC'02), pp. 127-132, 2002.
  8. Ellsworth, C. and Winters, J., "An Innovative System to Enhance Upper-Extremity Stroke Rehabilitation," Proceedings 25th IEEE/EMBS International Conference, Vol. 3, pp. 1617-1620, 2003.
  9. Nef, T. and Riener, R., "ARMin-Design of a Novel Arm Rehabilitation Robot," Proceedings IEEE 9th International Conference on Rehabilitation Robotics (ICORR), pp. 57-60, 2005.
  10. Hogan, N., Krebs, H. I., Charnnarong, J., Srikrishna, P. and Sharon, A., "MIT-MANUS: A Workstation for Manual Therapy and Training," IEEE International Workshop on Robot and Human Communication, pp. 161-165, 1992.
  11. Krebs, H. I., Hogan, N., Aisen, M. L. and Bruce, B. T., "Robot-aided Neurorehabilitation," IEEE Transactions on Rehabilitation Engineering, Vol. 6, No. 1, pp. 75-87, 1998. https://doi.org/10.1109/86.662623
  12. Fasoli, S. E., Krebs, H. I., Stein, J., Frontera, R., Hughes, R. and Hogan, N., "Robotic Therapy for Chronic Motor Impairments after Stroke: Follow-up Results," Arch. Phys. Med. Rehabilitation, Vol. 85, No. 7, pp. 1106-1111, 2004. https://doi.org/10.1016/j.apmr.2003.11.028
  13. Williams, D. J., Krebs, H. I. and Hogan, N., "A Robot for Wrist Rehabilitation," Proceedings 23rd EMBS International Conference, Vol. 2, pp. 1336-1339, 2001.
  14. Krebs, H. I., Ferraro, M., Buerger, S. P., Newbery, M. J., Makiyama, A., Sandmann, M., Lynch, D., Volpe, B. T. and Hogan, N., "Rehabilitation Robotics: Pilot Trial of a Spatial Extension for MIT-MANUS," Journal of Neuro-Engineering and Rehabilitation, Vol. 1, No. 5, pp. 1-15, 2004
  15. Krebs, H. I., Volpe, B. T., Williams, D. J., Celestino, J., Charles, S. K., Lynch, D. and Hogan, N., "Robotaided Neurorehabilitation: A Robot for Wrist Rehabilitation," IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 15, No. 3, pp. 327-335, 2007. https://doi.org/10.1109/TNSRE.2007.903899
  16. Masia, L., Krebs, H. I., Cappa, P. and Hogan, N., "Design and Characterization of Hand Module for Whole-arm Rehabilitation Following Stroke," IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 4, pp. 399-407, 2007. https://doi.org/10.1109/TMECH.2007.901928
  17. Lum, P. S., Van der Loos, H. F. M., Shor, P. and Burgar, C. G., "A Robotic System for Upper-limb Exercises to Promote Recovery of Motor Function Following Stroke," Proceedings IEEE 6th International Conference on Rehabilitation Robotics, pp. 235-239, 1999.
  18. Lum, P. S., Burgar, C. G., Van der Loos, H. F. M., Shor, P. C., Majmundar, M. and Yap, R., "The MIME Robotic System for Upper-limb Neurorehabilitation: Results from a Clinical Trial in Subacute Stroke," Proceedings IEEE 9th International Conference on Rehabilitation Robotics, pp. 511-514, 2005.
  19. Burgar, C. G., Lum, P. S., Shor, P. C. and Van der Loos, H. F. M., "Development of Robots for Rehabilitation Therapy: The Palo Alto VA/Stanford Experience," Journal of Rehabilitation Research and Development, Vol. 37, No. 6, pp. 663-673, 2000.
  20. Koyanagi, K., Furusho, J., Ryu, U. and Inoue, A., "Rehabilitation System with 3-D Exercise Machine for Upper Limb," Proceedings IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Vol. 2, pp. 1222-1227, 2003.
  21. Furusho, J., Koyanagi, K., Imada, Y., Fujii, Y., Nakanishi, K., Domen, K., Miyakoshi, K., Ryu, U., Takenaka, S. and Inoue, A., "A 3-D Rehabilitation System for Upper Limbs Developed in a 5-year NEDO Project and Its Clinical Testing," Proceedings IEEE 9th International Conference on Rehabilitation Robotics, pp. 53-56, 2005.
  22. Furusho, J., Shichi, N., Hu, X., Kikuchi, T., Nakayama, K., Li, C., Yamaguchi, Y., Inoue, A. and Ryu, U., "Development of a 6-DOF Force Display System with High Safety and Its Application to Rehabilitation," Proceedings IEEE International Conference on Mechatronics and Automation, pp. 962-967, 2006.
  23. Nef, T., Mihelj, M. and Riener, R., "ARMin: A Robot for Patient-cooperative Arm Therapy," Medical & Biological Engineering & Computing, Vol. 45, No. 9, pp. 887-900, 2007. https://doi.org/10.1007/s11517-007-0226-6
  24. Mihelj, M., Nef, T. and Riener, R., "ARMin II-7 DOF Rehabilitation Robot: Mechanics and Kinematics," Proceedings IEEE International Conference on Robotics and Automation, pp. 4120-4125, 2007.
  25. Shin, K. H. and Lee, S. H., "Development of a 3-D Rehabilitation Robot System for Upper Extremities," Journal of KSPE, Vol. 26, No. 4, pp. 64-71, 2009.
  26. Craig, J. and Raibert, M., "A Systematic Method Hybrid Position/Force Control of a Manipulator," Proceedings IEEE Computer Software Applications Conference, pp. 446-451, 1979.