Document Detail

Fuzzy control of a hand rehabilitation robot to optimize the exercise speed in passive working mode.
MedLine Citation:
PMID:  21335755     Owner:  NLM     Status:  In-Data-Review    
The robotic rehabilitation devices can undertake the difficult physical therapy tasks and provide improved treatment procedures for post stroke patients. During passive working mode, the speed of the exercise needs to be controlled continuously by the robot to avoid excessive injurious torques. We designed a fuzzy controller for a hand rehabilitation robot to adjust the exercise speed by considering the wrist angle and joint resistive torque, measured continuously, and the patient's general condition, determined by the therapist. With a set of rules based on an expert therapist experience, the fuzzy system could adapt effectively to the neuromuscular conditions of the patient's paretic hand. Preliminary clinical tests revealed that the fuzzy controller produced a smooth motion with no sudden change of the speed that could cause pain and activate the muscle reflexive mechanism. This improves the recovery procedure and promotes the robot's performance for wide clinical usage.
Mina Arab Baniasad; Mohammad Akbar; Aria Alasty; Farzam Farahmand
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Publication Detail:
Type:  Journal Article    
Journal Detail:
Title:  Studies in health technology and informatics     Volume:  163     ISSN:  0926-9630     ISO Abbreviation:  Stud Health Technol Inform     Publication Date:  2011  
Date Detail:
Created Date:  2011-02-21     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  9214582     Medline TA:  Stud Health Technol Inform     Country:  Netherlands    
Other Details:
Languages:  eng     Pagination:  39-43     Citation Subset:  T    
School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran.
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