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http://dx.doi.org/10.5302/J.ICROS.2015.15.9025

Study on Bilateral Exercise Interface Techniques for Active Rehabilitation of the Upper Limb Hemiplegia  

Eom, Su-Hong (Department of Electronic Engineering, Korea Polytechnic University)
Song, Ki-Sun (Department of Electronic Engineering, Korea Polytechnic University)
Jang, Mun-Suck (Department of Electronic Engineering, Korea Polytechnic University)
Lee, Eung-Hyuk (Department of Electronic Engineering, Korea Polytechnic University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.6, 2015 , pp. 510-517 More about this Journal
Abstract
For the self-directed rehabilitation of upper extremity hemiplegia patients, in this paper we propose an interface method capable of doing bilateral exercises in rehabilitation robotics. This is a method for estimating information of movements from the unaffected-side, and projects it to the affected-side in order. That the affected-side is followed the movements of the unaffected-side. For estimation of the unaffected-side movements information, gyro sensor data and acceleration sensor data were fused. In order to improve the measurement error in data fusion, a HDR filter and a complementary filter were applied. Estimated motion information is derived the one side of the drive input of rehabilitation robot. In order to validate the proposed method, experimental equipment is designed to be similar to the body's joints. The verification was performed by comparing the estimation angle data from inertial sensors and the encoder data which were attached to the mechanism.
Keywords
bilateral upper limb movement; upper limb rehabilitation; active training;
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Times Cited By KSCI : 3  (Citation Analysis)
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