Biomedical Engineering Reference
In-Depth Information
(a)
(b)
Figure 5.1
The rehabilitation robot (PolyJbot) with continuous intention-driven algorithm
for multi-joint training (a), and the schematic diagram of the setup for the wrist training (b).
For color reference, see page 214.
During the wrist training, a subject was seated, and the affected upper limb
was mounted horizontally on the robotic system, as shown in
Fig. 5.1(b)
.
The
subject would conduct wrist flexion and extension horizontally with respective
limb adapters by tracking a target cursor on a computer screen, moving with an
angular velocity at 10
◦
/sec in both extension and flexion directions from
45
◦
(the
negative sign represents a extension position) to 60
◦
(the positive sign represents
a flexion position) of the wrist angle. Different from other intention-triggered
systems, continuous interactive torque associated with the voluntary EMG of the
wrist movement would be provided by the robot to help the subject finish the task
during tracking on a real-time base.
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