A hybrid controller with Chedoke-McMaster stroke assessment for robot-assisted rehabilitation

Amongst the major challenges in post-stroke rehabilitation are the repetitiveness nature of rehabilitation procedure, and the accessibility of therapists for long-term treatment. In manual rehabilitation procedure, the patient is subjected to repetitive mechanical movement of the affected limb by th...

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Main Authors:	Sidek, Shahrul Na'im, Shamsudin, Abu Ubaidah, Ismail, Elliana
Format:	Article
Language:	English
Published:	Elsevier 2012
Subjects:	TA168 Systems engineering
Online Access:	http://irep.iium.edu.my/25629/ http://irep.iium.edu.my/25629/ http://irep.iium.edu.my/25629/4/iris_ubai.pdf

id	iium-25629
recordtype	eprints
spelling	iium-256292013-05-30T06:46:23Z http://irep.iium.edu.my/25629/ A hybrid controller with Chedoke-McMaster stroke assessment for robot-assisted rehabilitation Sidek, Shahrul Na'im Shamsudin, Abu Ubaidah Ismail, Elliana TA168 Systems engineering Amongst the major challenges in post-stroke rehabilitation are the repetitiveness nature of rehabilitation procedure, and the accessibility of therapists for long-term treatment. In manual rehabilitation procedure, the patient is subjected to repetitive mechanical movement of the affected limb by the therapist. In one of the techniques called active-assist exercise, the subject moves his affected limb along a specified trajectory with the therapist guiding the motion. The therapist gives some assistance to the subject to complete the course if deemed necessary and the procedure repeats. The significant advantages of using robots in assisting rehabilitation are its efficiency and it is fatigue free. The robots however need to be developed to have the capability of human therapist in providing the rehabilitation more naturally. In this paper, the work focuses on developing a new framework for the robot controller system. In particular, a low-level controller, which is in the form of force controller based on impedance control theory is discussed. The controller is capable of governing the active-assist exercise through autonomous guidance during the therapeutic procedure based on the Chedoke-McMaster stroke assessment method. Elsevier 2012 Article PeerReviewed application/pdf en http://irep.iium.edu.my/25629/4/iris_ubai.pdf Sidek, Shahrul Na'im and Shamsudin, Abu Ubaidah and Ismail, Elliana (2012) A hybrid controller with Chedoke-McMaster stroke assessment for robot-assisted rehabilitation. Procedia Engineering, 41. pp. 629-635. ISSN 1877-7058 http://www.sciencedirect.com/science/article/pii/S1877705812026227#
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA168 Systems engineering
spellingShingle	TA168 Systems engineering Sidek, Shahrul Na'im Shamsudin, Abu Ubaidah Ismail, Elliana A hybrid controller with Chedoke-McMaster stroke assessment for robot-assisted rehabilitation
description	Amongst the major challenges in post-stroke rehabilitation are the repetitiveness nature of rehabilitation procedure, and the accessibility of therapists for long-term treatment. In manual rehabilitation procedure, the patient is subjected to repetitive mechanical movement of the affected limb by the therapist. In one of the techniques called active-assist exercise, the subject moves his affected limb along a specified trajectory with the therapist guiding the motion. The therapist gives some assistance to the subject to complete the course if deemed necessary and the procedure repeats. The significant advantages of using robots in assisting rehabilitation are its efficiency and it is fatigue free. The robots however need to be developed to have the capability of human therapist in providing the rehabilitation more naturally. In this paper, the work focuses on developing a new framework for the robot controller system. In particular, a low-level controller, which is in the form of force controller based on impedance control theory is discussed. The controller is capable of governing the active-assist exercise through autonomous guidance during the therapeutic procedure based on the Chedoke-McMaster stroke assessment method.
format	Article
author	Sidek, Shahrul Na'im Shamsudin, Abu Ubaidah Ismail, Elliana
author_facet	Sidek, Shahrul Na'im Shamsudin, Abu Ubaidah Ismail, Elliana
author_sort	Sidek, Shahrul Na'im
title	A hybrid controller with Chedoke-McMaster stroke assessment for robot-assisted rehabilitation
title_short	A hybrid controller with Chedoke-McMaster stroke assessment for robot-assisted rehabilitation
title_full	A hybrid controller with Chedoke-McMaster stroke assessment for robot-assisted rehabilitation
title_fullStr	A hybrid controller with Chedoke-McMaster stroke assessment for robot-assisted rehabilitation
title_full_unstemmed	A hybrid controller with Chedoke-McMaster stroke assessment for robot-assisted rehabilitation
title_sort	hybrid controller with chedoke-mcmaster stroke assessment for robot-assisted rehabilitation
publisher	Elsevier
publishDate	2012
url	http://irep.iium.edu.my/25629/ http://irep.iium.edu.my/25629/ http://irep.iium.edu.my/25629/4/iris_ubai.pdf
first_indexed	2023-09-18T20:38:11Z
last_indexed	2023-09-18T20:38:11Z
_version_	1777409187554263040

A hybrid controller with Chedoke-McMaster stroke assessment for robot-assisted rehabilitation

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