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Development of a Bilateral Assistance and Coordination Rehabilitation Training System
Abstract
Strokes can lead to lasting neurological impairments. Many researchers are studying this process and have made important discoveries. Researchers are starting to investigate the possibility of neurorehabilitation based on neuroplasticity. On the other hand, robot assisted systems have increasingly been used in rehabilitation. However, studies on bilateral assistance rehabilitation systems have seldom been reported. Industrial robot arms were proposed for rehabilitation in other studies, but the inertia and volume of the system was too large, and the stiffness was hard to change. In this research, the authors proposed a novel bilateral assistance rehabilitation approach to treatment of the upper limbs of stroke patients, and a bilateral coordination rehabilitation approach was also proposed. This system is based on virtual reality, and is composed of two haptic devices (PHANTOM Omni), an advanced inertial sensor (MTx), and a computer. The authors have built some force models, in which one hand can be used to assist the other. Bilateral coordination training can also be performed in rehabilitation. In this system, the virtual reality technique is adopted to provide a virtual force model for rehabilitation training of the upper limbs. Furthermore, it is easy to change the stiffness of the system through changing the parameters of the developed virtual force model. The advantages of high safety, compactness, and bilateral assistance and coordination training make the system suitable for home rehabilitation.
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