Human arm weight compensation in rehabilitation robotics: efficacy of three distinct methods.

ABSTRACT:

Background

Arm weight compensation with rehabilitation robots for stroke patients has been successfully used to increase the active range of motion and reduce the effects of pathological muscle synergies. However, the differences in structure, performance, and control algorithms among the existing robotic platforms make it hard to effectively assess and compare human arm weight relief. In this paper, we introduce criteria for ideal arm weight compensation, and furthermore, we propose and analyze three distinct arm weight compensation methods (Average, Full, Equilibrium) in the arm rehabilitation exoskeleton 'ARMin'. The effect of the best performing method was validated in chronic stroke subjects to increase the active range of motion in three dimensional space.

Methods

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SUBMITTER: Just F 

PROVIDER: S-EPMC7003349 | biostudies-literature | 2020 Feb

REPOSITORIES: biostudies-literature