Modeling And Control Of A 4Dof Robotic Assistive Device For Hand Rehabilitation

For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.
{"references":["D. Mozaffarian, E. J. Benjamin, A. S. Go, D. K. Arnett, M. J. Blaha, M. Cushman, S. R. Das, S. de Ferranti, J. P. Després, H. J. Fullerton, and V. J. Howard, \"Heart Disease and Stroke Statistics—2016 Update A Report from the American Heart Association,\" Circulation, CIR-0000000000000350, 2015.","\"Paralysis,\" Stroke.org, 2014. (Online). Available at: http://www.stroke.org/we-can-help/survivors/stroke-recovery/post-stroke-conditions/physical/paralysis. (Accessed: 06-Mar-2016).","S. Masiero, A. Celia, G. Rosati, and M. Armani, \"Robotic-assisted rehabilitation of the upper limb after acute stroke,\" Archives of physical medicine and rehabilitation, vol. 88, no. 2, pp. 142-9, 2007.","P. S. Lum, C.G. Burgar, P. C. Shor, M. Majmundar, and M. Van der Loos, \"Robot-Assisted Movement Training Compared with Conventional Therapy Techniques for the Rehabilitation of Upper-Limb Motor Function After Stroke,\" Archives of Physical Medicine and Rehabilitation, vol. 83, no. 7, pp. 952-959, 2002.","G. R. Romer, H. J. Stuyt, and A. Peters, \"Cost-savings and economic benefits due to the assistive robotic manipulator (ARM),\" in 9th International Conference on Rehabilitation Robotics, ICORR, 2005, pp. 201-204.","A.D. Winter, Biomechanics and Motor Control of Human Movements, 2nd ed., University of Waterloo Press, Canada, 1992.","J. J. Craig, Introduction to Robotics Mechanics and Control, 3rd ed.: Pearson Prentice Hall, 2004.","N. P. Hamilton, Kinesiology: Scientific basis of human motion. Brown & Benchmark, 2011.","D. J. Magee, J. E. Zachazewski, and W. S. Quillen, Pathology and intervention in musculoskeletal rehabilitation. Elsevier Health Sciences, 2008.\n[10]\tM H. Rahman, M. Saad., J-P Kenné, and P. S. Archambault (2013). \"Control of an Exoskeleton Robot Arm with Sliding Mode Exponential Reaching Law.\" International Journal of Control, Automation, and Systems ,201, vol. 11 no 1: pp 92-104.\n[11]\tChen M, SK Ho, HF Zhou, PMK Pang, XL Hu, Ng DTW, Tong KY:Interactive rehabilitation robot for hand function training. In Proc. IEEE International Conference on Rehabilitation Robotics ICORR.Kyoto, Japan; 2009:777–780.\n[12]\tM. H. Rahman, M. J. Rahman, O. L. Cristobal, M. Saad, J. P. Kenné and P. S. Archambault \" Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements.\" Robotica CJO 2014, doi:10.1017/S0263574714000034."]}