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Research Objectives
In robot-aided rehabilitation of post-stroke patients with upper limb impairment,
robotic device must allow patient's effort in performing exercises. To estimate such
effort, user's force exerted on robotic device can be used during active exercises.
To validate use of force exerted by user/wearer by comparing with EMG signals as a
measure of intent detection in robot-aided active therapy on rehabilitation robot,
in this research, user's interactive force with robot was measured and compared with
user's muscle activity (EMG) during elbow flexion-extension performed by an upper-limb
rehabilitation robot (u-Rob). This physiological measure will help design rehab robot
centering patient's need and level of impairment. Furthermore, it can give an indication
of spastic behavior during rehab exercises.
Design
Experimental study of robot-aided therapy to observe force values with EMG values,
leading to use force as a measure of intent detection.
Setting
Protocol: Elbow flexion/extension (0-120 deg) motion. Experiments (passive and active
therapy exercise, five trials/exercise) were conducted with healthy subject in seated
position wearing the robot.
Participants
2 healthy males and 1 healthy female.
Interventions
Elbow flexion/extension (0-120 deg) motion. Experiments (passive and active therapy
exercise, five trials) were conducted subject in seated position wearing the robot.
Main Outcome Measures
Force exerted by the participant and participant's EMG
Results
Significant amount of force is exerted during active exercise and significant amount
of EMG activity is observed during active exercise. Besides, looking at the torque,
it is seen that during active rehab exercise, robot has to contribute lesser torque
than in passive exercise.
Conclusions
User-robot interactive forcesdetected by sensor can be used as a measure of intent
detection during robot-aided active exercise.
Moreover, measured forces can also be observed from muscle activity. It may give an
idea of subject's spastic behavior.
Author(s) Disclosures
N/A.
Keywords
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Copyright
© 2022 Published by Elsevier Inc.
