Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501141
N. Tejima, D. Stefanov
Two components for reducing the risks associated with rehabilitation robots are proposed. First, a reflex mechanism, which is similar to the biological reflex, is proposed. The experimental results of a prototype prove its effectiveness for reducing impact force. A new reflex mechanism structure is also proposed for improving its reliability. A reflex system composed only of electrical circuits is also discussed. Second, a fail-safe force sensor is proposed, which realizes a safe force/torque feedback control for rehabilitation robots. It can be realized by various structures. Its application to autonomous wheelchairs is discussed for improving their safety and usability.
{"title":"Fail-safe components for rehabilitation robots - a reflex mechanism and fail-safe force sensor","authors":"N. Tejima, D. Stefanov","doi":"10.1109/ICORR.2005.1501141","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501141","url":null,"abstract":"Two components for reducing the risks associated with rehabilitation robots are proposed. First, a reflex mechanism, which is similar to the biological reflex, is proposed. The experimental results of a prototype prove its effectiveness for reducing impact force. A new reflex mechanism structure is also proposed for improving its reliability. A reflex system composed only of electrical circuits is also discussed. Second, a fail-safe force sensor is proposed, which realizes a safe force/torque feedback control for rehabilitation robots. It can be realized by various structures. Its application to autonomous wheelchairs is discussed for improving their safety and usability.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122447589","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501070
O. Chuy, Y. Hirata, K. Kosuge
This paper propose an online approach to adapt user's controlling characteristic for robotic walker control. This approach is based on relocating the center of rotation (COR) of the robotic walker and it si implemented online in training. This study aims to aid users that have difficulties in controlling their walking support system. To adapt user's controlling characteristics, a user is to follow some training path and the error between the training and actual path is used to change the COR of the system. This training process is done until the user can successfully follow the training path. Several training paths are considered and the relationship between user's intention in the form of applied force/torque and the new COR is taken. This relationship is used in the actual control implementation of a variable COR. Experimentation and evaluation are presented to show the validity of the proposed approach.
{"title":"Online approach in adapting user characteristic for robotic walker control","authors":"O. Chuy, Y. Hirata, K. Kosuge","doi":"10.1109/ICORR.2005.1501070","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501070","url":null,"abstract":"This paper propose an online approach to adapt user's controlling characteristic for robotic walker control. This approach is based on relocating the center of rotation (COR) of the robotic walker and it si implemented online in training. This study aims to aid users that have difficulties in controlling their walking support system. To adapt user's controlling characteristics, a user is to follow some training path and the error between the training and actual path is used to change the COR of the system. This training process is done until the user can successfully follow the training path. Several training paths are considered and the relationship between user's intention in the form of applied force/torque and the new COR is taken. This relationship is used in the actual control implementation of a variable COR. Experimentation and evaluation are presented to show the validity of the proposed approach.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122884203","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501128
M.B. Van Kuren, S. Gillette, P. Mejia, T. Stoever, A. Walker
Two therapies for pediatric cerebral palsy patients with spastic diplegia of the legs are physical therapy to stretch the calf muscles and serial casting in combination with Botox injection. Furthermore, patients often wear ankle orthotics to assist in ambulation and therapy. With the advent of new materials and controls technology, a new wearable active orthotic boot design is proposed. Design considerations characterizing the needs of this pediatric device are summarized. System components including the actuators, sensors and controllers are presented and evaluated. A proposed boot design that is currently under construction is presented and implementation issues are discussed. The development of a novel wearable rehabilitative boot for pediatric patients with spastic diplegia is plausible and may lead to improved rehabilitative therapy.
{"title":"Design considerations for a wearable pediatric rehabilitative boot","authors":"M.B. Van Kuren, S. Gillette, P. Mejia, T. Stoever, A. Walker","doi":"10.1109/ICORR.2005.1501128","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501128","url":null,"abstract":"Two therapies for pediatric cerebral palsy patients with spastic diplegia of the legs are physical therapy to stretch the calf muscles and serial casting in combination with Botox injection. Furthermore, patients often wear ankle orthotics to assist in ambulation and therapy. With the advent of new materials and controls technology, a new wearable active orthotic boot design is proposed. Design considerations characterizing the needs of this pediatric device are summarized. System components including the actuators, sensors and controllers are presented and evaluated. A proposed boot design that is currently under construction is presented and implementation issues are discussed. The development of a novel wearable rehabilitative boot for pediatric patients with spastic diplegia is plausible and may lead to improved rehabilitative therapy.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121331357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501108
J. Emken, J. Bobrow, D. Reinkensmeyer
One of the prevailing paradigms of physical rehabilitation following neurologic injury is to "assist-as-needed"; that is, the rehabilitation therapist manually assists patients in performing movements, providing only as much assistance as needed to complete the movement. Several research groups are attempting to automate this principle with robotic movement training devices. This paper derives an "assist as needed" robotic training algorithm by framing the problem as an optimization problem. We assume that motor recovery can be modeled as a process of learning a novel sensory motor transformation. The optimized robotic movement trainer is then an error-based controller with a forgetting factor. It bounds kinematic errors while systematically reducing its assistance. The same controller also works well if the dominant dynamics of recovery are akin to a strengthening process. We experimentally validate the controller with an unimpaired subject by demonstrating how the controller can help the subject to learn a novel sensory motor transformation (i.e. an internal model) with smaller kinematic errors than typical. The task studied here is walking on a treadmill in the presence of a novel dynamic environment. The assist-as-needed controller proposed here may be useful for limiting error during the learning of tasks in which large errors are dangerous or discouraging.
{"title":"Robotic movement training as an optimization problem: designing a controller that assists only as needed","authors":"J. Emken, J. Bobrow, D. Reinkensmeyer","doi":"10.1109/ICORR.2005.1501108","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501108","url":null,"abstract":"One of the prevailing paradigms of physical rehabilitation following neurologic injury is to \"assist-as-needed\"; that is, the rehabilitation therapist manually assists patients in performing movements, providing only as much assistance as needed to complete the movement. Several research groups are attempting to automate this principle with robotic movement training devices. This paper derives an \"assist as needed\" robotic training algorithm by framing the problem as an optimization problem. We assume that motor recovery can be modeled as a process of learning a novel sensory motor transformation. The optimized robotic movement trainer is then an error-based controller with a forgetting factor. It bounds kinematic errors while systematically reducing its assistance. The same controller also works well if the dominant dynamics of recovery are akin to a strengthening process. We experimentally validate the controller with an unimpaired subject by demonstrating how the controller can help the subject to learn a novel sensory motor transformation (i.e. an internal model) with smaller kinematic errors than typical. The task studied here is walking on a treadmill in the presence of a novel dynamic environment. The assist-as-needed controller proposed here may be useful for limiting error during the learning of tasks in which large errors are dangerous or discouraging.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114650329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501111
D. Erol, V. Mallapragada, N. Sarkar, E. Taub
The goal of our research is to develop a novel control framework to assist stroke patients during rehabilitation therapy. This framework is expected to provide an optimal time-varying assistive force to stroke patients in varying physical and environmental conditions. An artificial neural network (ANN)-based PI-gain scheduling direct force controller is designed to provide optimal force assistance. The human arm model is integrated within the control framework where the ANN uses estimated human arm parameters to select the appropriate PI gains. An online technique to estimate human arm parameters as well as off-line analyses of the force controller are presented in this paper to demonstrate the feasibility and efficacy of the proposed method.
{"title":"A new control approach to robot assisted rehabilitation","authors":"D. Erol, V. Mallapragada, N. Sarkar, E. Taub","doi":"10.1109/ICORR.2005.1501111","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501111","url":null,"abstract":"The goal of our research is to develop a novel control framework to assist stroke patients during rehabilitation therapy. This framework is expected to provide an optimal time-varying assistive force to stroke patients in varying physical and environmental conditions. An artificial neural network (ANN)-based PI-gain scheduling direct force controller is designed to provide optimal force assistance. The human arm model is integrated within the control framework where the ANN uses estimated human arm parameters to select the appropriate PI gains. An online technique to estimate human arm parameters as well as off-line analyses of the force controller are presented in this paper to demonstrate the feasibility and efficacy of the proposed method.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128174449","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501063
M. Carrozza, A. Persichetti, C. Laschi, Fabrizio Vecchi, R. Lazzarini, Vincenzo Tamburrelli, P. Vacalebri, Paolo Dario
This paper presents an experimental investigation on a novel interface for high level control of hand prostheses, based on selected foot movements. A prototype has been developed that integrates four sensitive areas, battery, and electronics for data acquisition and wireless transmission into a wearable insole. The prototype foot interface has been experimentally validated in the control of a robotic hand prosthesis. Comparative experimental trials were conducted with 10 able-bodied subjects, with both the foot interface and an electromyographic (EMG)-based control. The results confirmed the effectiveness of the foot interface in the control of the hand prosthesis and showed a significant decrease in required adaptation and learning from the user's side.
{"title":"A novel wearable interface for robotic hand prostheses","authors":"M. Carrozza, A. Persichetti, C. Laschi, Fabrizio Vecchi, R. Lazzarini, Vincenzo Tamburrelli, P. Vacalebri, Paolo Dario","doi":"10.1109/ICORR.2005.1501063","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501063","url":null,"abstract":"This paper presents an experimental investigation on a novel interface for high level control of hand prostheses, based on selected foot movements. A prototype has been developed that integrates four sensitive areas, battery, and electronics for data acquisition and wireless transmission into a wearable insole. The prototype foot interface has been experimentally validated in the control of a robotic hand prosthesis. Comparative experimental trials were conducted with 10 able-bodied subjects, with both the foot interface and an electromyographic (EMG)-based control. The results confirmed the effectiveness of the foot interface in the control of the hand prosthesis and showed a significant decrease in required adaptation and learning from the user's side.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126424353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501123
S. Au, P. Bonato, H. Herr
Although below-knee prostheses have been commercially available for some time, today's devices are completely passive, and consequently, their mechanical properties remain fixed with walking speed and terrain. To improve the current performance of below-knee prostheses, we study the feasibility of using the amputee's residual limb EMG signals to control the ankle position of an active ankle-foot prosthesis. We propose two control schemes to predict the amputee's intended ankle position: a neural network approach and a muscle model approach. We test these approaches using EMG data measured from an amputee for several target ankle movement patterns. We find that both controllers demonstrate the ability to predict desired ankle movement patterns qualitatively. In the current implementation, the biomimetic EMG-controller demonstrates a smoother and more natural movement pattern than that demonstrated by the neural network approach, suggesting that a biologically-motivated, model-based approach may offer certain advantages in the control of active ankle prostheses.
{"title":"An EMG-position controlled system for an active ankle-foot prosthesis: an initial experimental study","authors":"S. Au, P. Bonato, H. Herr","doi":"10.1109/ICORR.2005.1501123","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501123","url":null,"abstract":"Although below-knee prostheses have been commercially available for some time, today's devices are completely passive, and consequently, their mechanical properties remain fixed with walking speed and terrain. To improve the current performance of below-knee prostheses, we study the feasibility of using the amputee's residual limb EMG signals to control the ankle position of an active ankle-foot prosthesis. We propose two control schemes to predict the amputee's intended ankle position: a neural network approach and a muscle model approach. We test these approaches using EMG data measured from an amputee for several target ankle movement patterns. We find that both controllers demonstrate the ability to predict desired ankle movement patterns qualitatively. In the current implementation, the biomimetic EMG-controller demonstrates a smoother and more natural movement pattern than that demonstrated by the neural network approach, suggesting that a biologically-motivated, model-based approach may offer certain advantages in the control of active ankle prostheses.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125124395","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501101
T. Farrell, R. Weir
The classification accuracies of controllers utilizing EMG input from six surface and ten intramuscular recordings are compared. In addition, the effect of including autoregressive (AR) parameters into the input sets is examined. The average accuracies from four subjects are reported. It was observed that surface recordings based solely on amplitude data did not perform well (21.1% error) but adding AR coefficients increased this accuracy substantially (10.3%). The intramuscular recordings performed comparably to the surface recordings with AR coefficients using all ten (13.2%) and a smaller set of six (12.1%) channels of intramuscular data. The subset of six channels was selected using multinomial logistic regression. It was observed that adding the AR coefficients to the intramuscular recordings also produced an improvement in classification accuracy for the six (92.8%) and ten (93.7%) channel input sets. To our knowledge this is the first work in more than three decades that explores the use of intramuscular EMG for the control of upper-limb prostheses and this work demonstrates that it is possible to achieve a decrease in classification error of nearly 40% by using intramuscular recordings.
{"title":"Pilot comparison of surface vs. implanted EMG for multifunctional prosthesis control","authors":"T. Farrell, R. Weir","doi":"10.1109/ICORR.2005.1501101","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501101","url":null,"abstract":"The classification accuracies of controllers utilizing EMG input from six surface and ten intramuscular recordings are compared. In addition, the effect of including autoregressive (AR) parameters into the input sets is examined. The average accuracies from four subjects are reported. It was observed that surface recordings based solely on amplitude data did not perform well (21.1% error) but adding AR coefficients increased this accuracy substantially (10.3%). The intramuscular recordings performed comparably to the surface recordings with AR coefficients using all ten (13.2%) and a smaller set of six (12.1%) channels of intramuscular data. The subset of six channels was selected using multinomial logistic regression. It was observed that adding the AR coefficients to the intramuscular recordings also produced an improvement in classification accuracy for the six (92.8%) and ten (93.7%) channel input sets. To our knowledge this is the first work in more than three decades that explores the use of intramuscular EMG for the control of upper-limb prostheses and this work demonstrates that it is possible to achieve a decrease in classification error of nearly 40% by using intramuscular recordings.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123671840","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501077
M. Ghorbel, M. Haariz, B. Grandjean, M. Mokhtari
This paper describes the development of generic human-machine interface (HMI) to control the manus assistive robot. The personalization of the HMI, according to each end user, is crucial for the usability of any assistive technology. The control of complex devices, such as robot having many degrees of freedom (DOF), with a limited number of DOF at the level of the user, implies an appropriate design of the HMI to facilitate the interaction. Our research activities focus mainly at this level, which means not only providing several functionalities of the controlled system, but also on the presentation of those functionalities to the user. The challenge is to hide the complexity of any controlled system to the user, and particularly, when these users are having severe disabilities. Preliminary results are also presented. This work is funded by a European program, through the AMOR project, and by national support, through the Smart Home project. A demonstration of the running prototype is presented during the conference.
{"title":"Toward a generic human machine interface for assistive robots: the AMOR project","authors":"M. Ghorbel, M. Haariz, B. Grandjean, M. Mokhtari","doi":"10.1109/ICORR.2005.1501077","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501077","url":null,"abstract":"This paper describes the development of generic human-machine interface (HMI) to control the manus assistive robot. The personalization of the HMI, according to each end user, is crucial for the usability of any assistive technology. The control of complex devices, such as robot having many degrees of freedom (DOF), with a limited number of DOF at the level of the user, implies an appropriate design of the HMI to facilitate the interaction. Our research activities focus mainly at this level, which means not only providing several functionalities of the controlled system, but also on the presentation of those functionalities to the user. The challenge is to hide the complexity of any controlled system to the user, and particularly, when these users are having severe disabilities. Preliminary results are also presented. This work is funded by a European program, through the AMOR project, and by national support, through the Smart Home project. A demonstration of the running prototype is presented during the conference.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128209561","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501059
Zhang Yubo, Wang Zixi, Ji Linhong, Bi Sheng
In order to estimate the effect of neural rehabilitation robot for improving the upper extremity motor function, 23 hemiplegia patients who are BrunnstromTII at least receive clinical rehabilitation training by the upper extremity compound movements rehabilitation training robot. The assistance models of the neural rehabilitation robot and the programming of the clinical rehabilitation training are studied in this dissertation. The clinical assessment results make clear that after a period of rehabilitation treatment, the function of most patients, which could be assessed by Fugl-Meyer method, improved to a certain extent, and the rehabilitation effect is better than the traditional rehabilitation training. The outcome indicates that, the upper extremity compound movements rehabilitation training robot has a significant application prospect in clinical rehabilitation.
{"title":"The clinical application of the upper extremity compound movements rehabilitation training robot","authors":"Zhang Yubo, Wang Zixi, Ji Linhong, Bi Sheng","doi":"10.1109/ICORR.2005.1501059","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501059","url":null,"abstract":"In order to estimate the effect of neural rehabilitation robot for improving the upper extremity motor function, 23 hemiplegia patients who are BrunnstromTII at least receive clinical rehabilitation training by the upper extremity compound movements rehabilitation training robot. The assistance models of the neural rehabilitation robot and the programming of the clinical rehabilitation training are studied in this dissertation. The clinical assessment results make clear that after a period of rehabilitation treatment, the function of most patients, which could be assessed by Fugl-Meyer method, improved to a certain extent, and the rehabilitation effect is better than the traditional rehabilitation training. The outcome indicates that, the upper extremity compound movements rehabilitation training robot has a significant application prospect in clinical rehabilitation.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"231 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130357811","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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