An intelligent rehabilitation robotic systems for limb injury recovery

本研究的目的是继续开发一种有效，安全，可靠和用户友好的治疗机器人系统，以补充物理治疗师。该系统将保持客观的跟踪病人的进展，同时协助中风损伤的重复训练。将机器人治疗整合到当前的常规治疗程序中将通过减轻物理康复的劳动密集型方面来提高治疗师的效率和有效性和/或降低成本。一个试点版本的治疗机器人系统支持的上肢生物力学模型已经开发。我们的系统的一个关键区别能力是上肢的五个自由度（DOF）的支持（肩部的3个DOF和手肘的2个DOF）。该机器人系统还具有显著的功能，使其与现有的治疗机器人（如MIT-MANUS，MIME和ARM Guide）区分开来。该项目将用于增强当前试验版治疗机器人的能力，以解决其可用性，可接受性和安全性。该项目将继续开发和验证先前建立的生物力学模型。目前，该模型支持上肢5自由度。该模型将扩展为包括下肢旋转关节（髋关节的2个自由度和膝关节的1个自由度）。将开发一种混合模糊控制器，它将模糊逻辑和力控制器结合在当前的PID位置控制算法中。它将使机器人对患者的动作做出反应（主被动治疗模式），并平滑快速地移动以顺应用户的动作。将研究与治疗机器人（硬件、软件和人）使用相关的系统安全要求和所有潜在危害，以设计有效的安全系统。这一领域的进展对加拿大来说非常重要，可以产生全球医疗保健系统所需的新业务和相关新产品。

The purpose of this research is to continue the development of an effective, safe, reliable and user-friendly therapeutic robot system that will complement the physical therapist. The system will keep objective track of the patient's progress while assisting with repetative training of stroke impairment. Integration of robotic therapy into current conventional therapy programs will increase the efficiency and effectiveness of therapists and/or reduce costs by alleviating the labour-intensive aspects of the physical rehabilitation. A pilot version of a therapeutic robotic system supported by an upper extremity bio-mechanical model has been developed. A key differentiating capability of our system is the support of five degrees of freedom (DOF) for the upper limb (3 DOF of the shoulder and 2 DOF of the elbow). The robotic system also has significant features that distinguish it from existing therapeutic robots such as MIT-MANUS, MIME and ARM Guide. This project will be used to enhance the capabilities of the current pilot version of the therapeutic robot to address its usability, acceptability, and safety. The project will continue the development and validation of the bio-mechanical model built earlier. Currently, the model supports the upper limb 5 DOF. The model will be expanded to include the lower limb rotational joints (2 DOF of the hip and 1 DOF of the knee). A hybrid fuzzy controller that incorporates a fuzzy logic and force controller in the current PID position control algorithms will be developed. It will make the robot respond to the patients' actions (active-passive therapy mode) and move smoothly and rapidly to comply with the users actions. The system safety requirements and all potential hazards associated with the use of the therapeutic robot (hardware, software, and human) will be investigated to design an effective safety system. The progress in this field will be important for Canada and can lead to generate new businesses and related new products that are required by the healthcare system worldwide.