This research introduces a new exoskeleton-type rehabilitation robot, which can be used in lower limb rehabilitation therapy for post-stroke patients. A novel design of a typical knee and ankle rehabilitation robot is proposed. The kinematic and dynamic models of the knee and ankle rehabilitation robot are derived. Furthermore, a super-twisting nonsingular terminal sliding mode control is developed to achieve the desired training missions and its results are compared with those of an adaptive sliding mode control. To reduce undesired interaction torques between knee and ankle rehabilitation robot and patient, an admittance control algorithm is added to the controller to guarantee a safe therapy session. The admittance super-twisting nonsingular terminal sliding mode control structure is considered as the novelty of this article. Taking into account the dynamic uncertainties, external disturbances, and the interaction torques, the validity of the admittance super-twisting nonsingular terminal sliding mode control controller is approved by various numerical simulations over the admittance adaptive sliding mode control.
Download full-text PDF |
Source |
|---|---|
| http://dx.doi.org/10.1177/0954411920947849 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Exoskeleton Training for Spinal Cord Injury Neuropathic Pain (ExSCIP): Protocol for a Phase 2 Feasibility Randomised Trial.
HRB Open Res
September 2024
UCD School of Public Health, Physiotherapy and Sports Science, Health Sciences Centre, University College Dublin, Dublin, Leinster, Ireland.
Background: Following Spinal Cord Injury (SCI), 53% of people develop neuropathic pain (NP). NP can be more debilitating than other consequences of SCI, and a persistent health issue. Pharmacotherapies are commonly recommended for NP management in SCI, although severe pain often remains refractory to these treatments in many sufferers.
View Article and Find Full Text PDFImproved motor imagery skills after repetitive passive somatosensory stimulation: a parallel-group, pre-registered study.
Front Neural Circuits
January 2025
Department of Biosciences and Informatics, Faculty of Science and Technology, Keio University, Kanagawa, Japan.
Introduction: Motor-imagery-based Brain-Machine Interface (MI-BMI) has been established as an effective treatment for post-stroke hemiplegia. However, the need for long-term intervention can represent a significant burden on patients. Here, we demonstrate that motor imagery (MI) instructions for BMI training, when supplemented with somatosensory stimulation in addition to conventional verbal instructions, can help enhance MI capabilities of healthy participants.
View Article and Find Full Text PDFASRA Pain Medicine consensus practice infection control guidelines for regional anesthesia and pain medicine.
Reg Anesth Pain Med
January 2025
Division of Pain Management, University Hospitals, Cleveland, Ohio, USA.
Background: To provide recommendations on risk mitigation, diagnosis and treatment of infectious complications associated with the practice of regional anesthesia, acute and chronic pain management.
Methods: Following board approval, in 2020 the American Society of Regional Anesthesia and Pain Medicine (ASRA Pain Medicine) commissioned evidence-based guidelines for best practices for infection control. More than 80 research questions were developed and literature searches undertaken by assigned working groups comprising four to five members.
Robot-assisted upper limb therapy for personalized rehabilitation in children with cerebral palsy: a systematic review.
Front Neurol
January 2025
Department of Oral Medical Science and Biotechnology, Physical and Rehabilitation Medicine, BIND, CARES, University "G. d'Annunzio" of Chieti-Pescara, Chieti, Italy.
Introduction: Cerebral palsy (CP) is a group of permanent disorders of movement development that may cause activity limitations. In this context, robot-assisted therapy might play a key role in clinical management. This comprehensive systematic review aimed to investigate the efficacy of robotic systems in improving upper limb (UL) functions in children with CP.
View Article and Find Full Text PDFResearch on upper limb rehabilitation assessment model based on belief rule base.
Front Bioeng Biotechnol
January 2025
Rehabilitation Department, Jilin Electric Power Hospital, Changchun, China.
Rehabilitation assessments hold an irreplaceable role in the field of rehabilitative therapy. However, due to the subjectivity of traditional physicians and the variability of patient conditions, this leads to a lack of detailed grading and inaccurate assessment results. To address this issue, we developed an upper limb rehabilitation evaluation model.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!