{"title":"基于运动性能差异的上肢康复机器人系统的研制","authors":"Keunyoung Park, Youngwook Kim, G. Obinata","doi":"10.1109/MHS.2009.5351839","DOIUrl":null,"url":null,"abstract":"In this paper, we develop the robotic system for the rehabilitation of the upper limbs which consists of a PA-10 robot manipulator and a 6-axis force/torque sensor. In addition, we generate FES signals to assist paralytics based on the difference of reaching performance between normal and abnormal arms. To estimate the motor performance, subjects were asked to perform a tracking task; in this study, the healthy subjects conduct experiments. We verify that the FES signal values are saturating followed by the trial number and adjusted by reaching performance.","PeriodicalId":344667,"journal":{"name":"2009 International Symposium on Micro-NanoMechatronics and Human Science","volume":"49 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"The development of upper limbs rehabilitation robot system based on the difference of motor performance\",\"authors\":\"Keunyoung Park, Youngwook Kim, G. Obinata\",\"doi\":\"10.1109/MHS.2009.5351839\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we develop the robotic system for the rehabilitation of the upper limbs which consists of a PA-10 robot manipulator and a 6-axis force/torque sensor. In addition, we generate FES signals to assist paralytics based on the difference of reaching performance between normal and abnormal arms. To estimate the motor performance, subjects were asked to perform a tracking task; in this study, the healthy subjects conduct experiments. We verify that the FES signal values are saturating followed by the trial number and adjusted by reaching performance.\",\"PeriodicalId\":344667,\"journal\":{\"name\":\"2009 International Symposium on Micro-NanoMechatronics and Human Science\",\"volume\":\"49 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-12-11\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 International Symposium on Micro-NanoMechatronics and Human Science\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MHS.2009.5351839\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 International Symposium on Micro-NanoMechatronics and Human Science","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MHS.2009.5351839","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The development of upper limbs rehabilitation robot system based on the difference of motor performance
In this paper, we develop the robotic system for the rehabilitation of the upper limbs which consists of a PA-10 robot manipulator and a 6-axis force/torque sensor. In addition, we generate FES signals to assist paralytics based on the difference of reaching performance between normal and abnormal arms. To estimate the motor performance, subjects were asked to perform a tracking task; in this study, the healthy subjects conduct experiments. We verify that the FES signal values are saturating followed by the trial number and adjusted by reaching performance.