A prototype of the master slave telerehabilitation robotic system with force feedback is developed. This system contains a pair of robots with the master being operated by the therapist and the slave following the mas...A prototype of the master slave telerehabilitation robotic system with force feedback is developed. This system contains a pair of robots with the master being operated by the therapist and the slave following the master to guide the patients to exercise. A slave device with a slave controller is designed to stretch and mobilize the impaired elbow joints accurately and safely. A master device with a master controller is designed to control/monitor the procedure of treatment and assess the outcome of treatment remotely and accurately. By using the twoport network theory and the circuit equivalent impedance models, the position-force control scheme is designed to generate force feedback for the therapist who is to be informed of the interaction force between the subject and the robot arm during exercise. Experiments were conducted with a healthy male. Results show that the therapist can guide the patient to exercise by the master arm and can feel the interaction forces between the impaired arm and the robot. Compared with the traditional therapy, this system is more cost-efficient, more convenient and safer for both the stroke patients and the clinicians.展开更多
基金The National Natural Science Foundation of China(No.60475034).
文摘A prototype of the master slave telerehabilitation robotic system with force feedback is developed. This system contains a pair of robots with the master being operated by the therapist and the slave following the master to guide the patients to exercise. A slave device with a slave controller is designed to stretch and mobilize the impaired elbow joints accurately and safely. A master device with a master controller is designed to control/monitor the procedure of treatment and assess the outcome of treatment remotely and accurately. By using the twoport network theory and the circuit equivalent impedance models, the position-force control scheme is designed to generate force feedback for the therapist who is to be informed of the interaction force between the subject and the robot arm during exercise. Experiments were conducted with a healthy male. Results show that the therapist can guide the patient to exercise by the master arm and can feel the interaction forces between the impaired arm and the robot. Compared with the traditional therapy, this system is more cost-efficient, more convenient and safer for both the stroke patients and the clinicians.
