Design of a Novel Telerehabilitation System with a Force-Sensing Mechanism
Identifieur interne : 000989 ( Main/Merge ); précédent : 000988; suivant : 000990Design of a Novel Telerehabilitation System with a Force-Sensing Mechanism
Auteurs : Songyuan Zhang [Japon] ; Shuxiang Guo ; Baofeng Gao ; Hideyuki Hirata ; Hidenori IshiharaSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2015.
Abstract
Many stroke patients are expected to rehabilitate at home, which limits their access to proper rehabilitation equipment, treatment, or assessment by therapists. We have developed a novel telerehabilitation system that incorporates a human-upper-limb-like device and an exoskeleton device. The system is designed to provide the feeling of real therapist–patient contact via telerehabilitation. We applied the principle of a series elastic actuator to both the master and slave devices. On the master side, the therapist can operate the device in a rehabilitation center. When performing passive training, the master device can detect the therapist’s motion while controlling the deflection of elastic elements to near-zero, and the patient can receive the motion via the exoskeleton device. When performing active training, the design of the force-sensing mechanism in the master device can detect the assisting force added by the therapist. The force-sensing mechanism also allows force detection with an angle sensor. Patients’ safety is guaranteed by monitoring the motor’s current from the exoskeleton device. To compensate for any possible time delay or data loss, a torque-limiter mechanism was also designed in the exoskeleton device for patients’ safety. Finally, we successfully performed a system performance test for passive training with transmission control protocol/internet protocol communication.
Url:
DOI: 10.3390/s150511511
PubMed: 25996511
PubMed Central: 4481901
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PMC:4481901Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Design of a Novel Telerehabilitation System with a Force-Sensing Mechanism</title><author><name sortKey="Zhang, Songyuan" sort="Zhang, Songyuan" uniqKey="Zhang S" first="Songyuan" last="Zhang">Songyuan Zhang</name><affiliation wicri:level="1"><nlm:aff id="af1-sensors-15-11511">Graduate School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa 761-0396, Japan</nlm:aff><country xml:lang="fr">Japon</country><wicri:regionArea>Graduate School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa 761-0396</wicri:regionArea><wicri:noRegion>Kagawa 761-0396</wicri:noRegion></affiliation></author><author><name sortKey="Guo, Shuxiang" sort="Guo, Shuxiang" uniqKey="Guo S" first="Shuxiang" last="Guo">Shuxiang Guo</name><affiliation><nlm:aff id="af2-sensors-15-11511">The Institute of Advanced Biomedical Engineering System, School of Life Science and Technology, Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, Beijing Institute of Technology, Haidian District, Beijing 100081, China; E-Mails:<email>guo@eng.kagawa-u.ac.jp</email> (S.G.);<email>gaobaofeng@bit.edu.cn</email> (B.G.)</nlm:aff></affiliation><affiliation><nlm:aff id="af3-sensors-15-11511">Department of Intelligent Mechanical Systems Engineering, Kagawa University, Kagawa 761-0396, Japan; E-Mails:<email>hhirata@eng.kagawa-u.ac.jp</email> (H.H.);<email>ishihara@eng.kagawa-u.ac.jp</email> (H.I.)</nlm:aff></affiliation></author><author><name sortKey="Gao, Baofeng" sort="Gao, Baofeng" uniqKey="Gao B" first="Baofeng" last="Gao">Baofeng Gao</name><affiliation><nlm:aff id="af2-sensors-15-11511">The Institute of Advanced Biomedical Engineering System, School of Life Science and Technology, Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, Beijing Institute of Technology, Haidian District, Beijing 100081, China; E-Mails:<email>guo@eng.kagawa-u.ac.jp</email> (S.G.);<email>gaobaofeng@bit.edu.cn</email> (B.G.)</nlm:aff></affiliation></author><author><name sortKey="Hirata, Hideyuki" sort="Hirata, Hideyuki" uniqKey="Hirata H" first="Hideyuki" last="Hirata">Hideyuki Hirata</name><affiliation><nlm:aff id="af3-sensors-15-11511">Department of Intelligent Mechanical Systems Engineering, Kagawa University, Kagawa 761-0396, Japan; 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E-Mails:<email>guo@eng.kagawa-u.ac.jp</email> (S.G.);<email>gaobaofeng@bit.edu.cn</email> (B.G.)</nlm:aff></affiliation><affiliation><nlm:aff id="af3-sensors-15-11511">Department of Intelligent Mechanical Systems Engineering, Kagawa University, Kagawa 761-0396, Japan; E-Mails:<email>hhirata@eng.kagawa-u.ac.jp</email> (H.H.);<email>ishihara@eng.kagawa-u.ac.jp</email> (H.I.)</nlm:aff></affiliation></author><author><name sortKey="Gao, Baofeng" sort="Gao, Baofeng" uniqKey="Gao B" first="Baofeng" last="Gao">Baofeng Gao</name><affiliation><nlm:aff id="af2-sensors-15-11511">The Institute of Advanced Biomedical Engineering System, School of Life Science and Technology, Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, Beijing Institute of Technology, Haidian District, Beijing 100081, China; E-Mails:<email>guo@eng.kagawa-u.ac.jp</email> (S.G.);<email>gaobaofeng@bit.edu.cn</email> (B.G.)</nlm:aff></affiliation></author><author><name sortKey="Hirata, Hideyuki" sort="Hirata, Hideyuki" uniqKey="Hirata H" first="Hideyuki" last="Hirata">Hideyuki Hirata</name><affiliation><nlm:aff id="af3-sensors-15-11511">Department of Intelligent Mechanical Systems Engineering, Kagawa University, Kagawa 761-0396, Japan; E-Mails:<email>hhirata@eng.kagawa-u.ac.jp</email> (H.H.);<email>ishihara@eng.kagawa-u.ac.jp</email> (H.I.)</nlm:aff></affiliation></author><author><name sortKey="Ishihara, Hidenori" sort="Ishihara, Hidenori" uniqKey="Ishihara H" first="Hidenori" last="Ishihara">Hidenori Ishihara</name><affiliation><nlm:aff id="af3-sensors-15-11511">Department of Intelligent Mechanical Systems Engineering, Kagawa University, Kagawa 761-0396, Japan; E-Mails:<email>hhirata@eng.kagawa-u.ac.jp</email> (H.H.);<email>ishihara@eng.kagawa-u.ac.jp</email> (H.I.)</nlm:aff></affiliation></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2015">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>Many stroke patients are expected to rehabilitate at home, which limits their access to proper rehabilitation equipment, treatment, or assessment by therapists. We have developed a novel telerehabilitation system that incorporates a human-upper-limb-like device and an exoskeleton device. The system is designed to provide the feeling of real therapist–patient contact via telerehabilitation. We applied the principle of a series elastic actuator to both the master and slave devices. On the master side, the therapist can operate the device in a rehabilitation center. When performing passive training, the master device can detect the therapist’s motion while controlling the deflection of elastic elements to near-zero, and the patient can receive the motion via the exoskeleton device. When performing active training, the design of the force-sensing mechanism in the master device can detect the assisting force added by the therapist. The force-sensing mechanism also allows force detection with an angle sensor. Patients’ safety is guaranteed by monitoring the motor’s current from the exoskeleton device. To compensate for any possible time delay or data loss, a torque-limiter mechanism was also designed in the exoskeleton device for patients’ safety. Finally, we successfully performed a system performance test for passive training with transmission control protocol/internet protocol communication.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Lloyd Jones, D" uniqKey="Lloyd Jones D">D. Lloyd-Jones</name></author><author><name sortKey="Adams, R J" uniqKey="Adams R">R.J. Adams</name></author><author><name sortKey="Brown, T M" uniqKey="Brown T">T.M. Brown</name></author><author><name sortKey="Carnethon, M" uniqKey="Carnethon M">M. Carnethon</name></author><author><name sortKey="Dai, S" uniqKey="Dai S">S. Dai</name></author><author><name sortKey="De Simone, G" uniqKey="De Simone G">G. de Simone</name></author><author><name sortKey="Ferguson, T B" uniqKey="Ferguson T">T.B. 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Wang</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Oh, J" uniqKey="Oh J">J. Oh</name></author><author><name sortKey="Lee, S" uniqKey="Lee S">S. Lee</name></author><author><name sortKey="Lim, M" uniqKey="Lim M">M. Lim</name></author><author><name sortKey="Choi, J" uniqKey="Choi J">J.; Choi</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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