A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training

Area of Science:

• Rehabilitation Engineering
• Robotics
• Neurorehabilitation

Background:

• Stroke survivors often experience motor deficits, particularly affecting wrist function crucial for daily activities.
• Existing rehabilitation technologies may lack the flexibility, affordability, or specific wrist focus needed for effective training.

Purpose of the Study:

• To develop and evaluate a novel cable-driven wrist robotic rehabilitator (CDWRR) for assisted motion training in individuals with motor disabilities.
• To design an adaptable control system capable of personalized rehabilitation based on individual needs.

Main Methods:

• The CDWRR system employs a cable-driven parallel design, leveraging the user's wrist and arm for support, ensuring flexibility, low cost, and light weight.
• A virtual torque-field controller was implemented to provide "assist-as-needed" torques for spherical wrist motion, adaptable by tuning field parameters.
• A parameter self-identification algorithm was developed for automatic adaptation to the wearable structure's uncertainties.

Main Results:

• Experiments with a healthy subject validated the CDWRR's controller performance.
• The study demonstrated the feasibility of the CDWRR for effective wrist motion training and assistance.

Conclusions:

• The developed CDWRR is a feasible and adaptable robotic solution for wrist rehabilitation.
• The "assist-as-needed" control strategy and self-identification algorithm show promise for personalized stroke rehabilitation.