Document Detail

A rehabilitation robot with force-position hybrid fuzzy controller: hybrid fuzzy control of rehabilitation robot.
MedLine Citation:
PMID:  16200758     Owner:  NLM     Status:  MEDLINE    
The goal of this study was to design a robot system for assisting in the rehabilitation of patients with neuromuscular disorders by performing various facilitation movements. The robot should be able to guide patient's wrist to move along planned linear or circular trajectories. A hybrid position/force controller incorporating fuzzy logic was developed to constrain the movement in the desired direction and to maintain a constant force along the moving direction. The controller was stable in the application range of movements and forces. Offline analyses of data were used to quantitatively assess the progress of rehabilitation. The results show that the robot could guide the upper limbs of subjects in linear and circular movements under predefined external force levels and apply a desired force along the tangential direction of the movements.
Ming-Shaung Ju; Chou-Ching K Lin; Dong-Huang Lin; Ing-Shiou Hwang; Shu-Min Chen
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Publication Detail:
Type:  Evaluation Studies; Journal Article; Research Support, Non-U.S. Gov't    
Journal Detail:
Title:  IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society     Volume:  13     ISSN:  1534-4320     ISO Abbreviation:  IEEE Trans Neural Syst Rehabil Eng     Publication Date:  2005 Sep 
Date Detail:
Created Date:  2005-10-04     Completed Date:  2005-10-27     Revised Date:  2006-11-15    
Medline Journal Info:
Nlm Unique ID:  101097023     Medline TA:  IEEE Trans Neural Syst Rehabil Eng     Country:  United States    
Other Details:
Languages:  eng     Pagination:  349-58     Citation Subset:  IM    
Department of Mechanical Engineering, National Cheng Kung University, Tainan 70101, Taiwan, ROC.
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MeSH Terms
Computer-Aided Design
Equipment Design
Equipment Failure Analysis
Fuzzy Logic*
Movement Disorders / physiopathology*,  rehabilitation*
Robotics / instrumentation*,  methods*
Stress, Mechanical
Therapy, Computer-Assisted / instrumentation*,  methods*

From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine

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