Purpose

This paper aims to develop a robotic mirror therapy system for lower limb rehabilitation, which is applicable for different patients with individual movement disability levels.

Design/methodology/approach

This paper puts forward a novel system that includes a four-degree-of-freedom sitting/lying lower limb rehabilitation robot and a wireless motion data acquisition system based on mirror therapy principle. The magnetorheological (MR) actuators are designed and manufactured, whose characteristics are detected theoretically and experimentally. The passive training control strategy is proposed, and the trajectory tracking experiments verify its feasibility. Also, the active training controller that is adapt to the human motor ability is designed and evaluated by the comparison experiments.

Findings

The MR actuators produce continuously variable and compliant torque for robotic joints by adjusting excitation current. The reference limb joint position data collected by the wireless motion data acquisition system can be used as the motion trajectory of the robot to drive the affected limb. The passive training strategy based on proportional-integral control proves to have great trajectory tracking performance through experiments. In the active training mode, by comparing the real-time parameters adjustment in two phases, it is certified that the proposed fuzzy-based regulated impedance controller can adjust assistance torque according to the motor ability of the affected limb.

Originality/value

The system developed in this paper fulfills the needs of robot-assisted mirror therapy for hemiplegic patients.

中文翻译：

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下肢康复机器人镜面治疗系统

目的

本文旨在开发一种用于下肢康复的机器人镜像治疗系统，适用于不同个体运动障碍水平的患者。

设计/方法/方法

本文提出了一种包括四自由度坐卧下肢康复机器人和基于镜像疗法原理的无线运动数据采集系统的新型系统。设计和制造了磁流变 (MR) 执行器，并通过理论和实验检测了其特性。提出了被动训练控制策略，并通过轨迹跟踪实验验证了其可行性。并通过对比实验设计并评估了适应人体运动能力的主动训练控制器。

发现

MR 执行器通过调节激励电流为机器人关节产生连续可变的顺从扭矩。无线运动数据采集系统采集的参考肢体关节位置数据可作为机器人的运动轨迹，驱动患肢。通过实验证明，基于比例积分控制的被动训练策略具有很好的轨迹跟踪性能。在主动训练模式下，通过比较两个阶段的实时参数调整，证明所提出的基于模糊的阻抗调节控制器可以根据患肢的运动能力调整辅助扭矩。

原创性/价值

本文开发的系统满足了偏瘫患者机器人辅助镜面治疗的需求。