Abstract
Many stroke and spinal cord injured (SCI) patients suffer from a paretic arm movement, which can be characterized by a limited shoulder flexion. We consider a possibility to assist the patient in slow arbitrary arm flexions within a large range of motion. To address this issue, we propose a shoulder flexion dependent weight support during robot-assisted therapy of the upper limb. Inverse static models of the cable-driven robotics and the passive human arm are used to estimate the required forces at the ropes to flex the upper arm in order to compensate a given percentage of the arm weight. Our results show that conventional constant rope forces during a therapy may produce an over- or undercompensated weight support, whereas the proposed adaptive approach achieves a desired larger range of motion.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
L. Marchal-Crespo, D.J. Reinkensmeyer, Review of control strategies for robotic movement training after neurologic injury. J. NeuroEng. Rehabil. 6(1), 20+ (2009)
G. Rosati, P. Gallina, S. Masiero, Design, implementation and clinical tests of a wire-based robot for neurorehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. Publ. IEEE Eng. Med. Biol. Soc. 15(4), 560–569 (2007)
Acknowledgments
The work was conducted within the research project BeMobil, which is supported by the German Federal Ministry of Education and Research (BMBF) (FKZ16SV7069K).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Knuth, S., Passon, A., Dähne, F., Niedeggen, A., Schmehl, I., Schauer, T. (2017). Adaptive Arm Weight Support Using a Cable-Driven Robotic System. In: Ibáñez, J., González-Vargas, J., Azorín, J., Akay, M., Pons, J. (eds) Converging Clinical and Engineering Research on Neurorehabilitation II. Biosystems & Biorobotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-319-46669-9_215
Download citation
DOI: https://doi.org/10.1007/978-3-319-46669-9_215
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-46668-2
Online ISBN: 978-3-319-46669-9
eBook Packages: EngineeringEngineering (R0)