期刊名称：Facta universitatis - series: Electronics and Energetics
印刷版ISSN：0353-3670
电子版ISSN：2217-5997
出版年度：2017
卷号：30
期号：1
页码：137-144
出版社：University of Niš
摘要：We present the use of the modified internal model controller (MIMC) and the “Probability Tube” (PT) action representation for robot-assisted upper extremities training of hemiplegic patients. The robot-assisted training session has two phases. During the first "demonstration" phase the robot learns from the therapist the target path through examples. In the second "exercise" phase the robot assists a patient to follow the target path. During this process, the control limits the interface force between the robot and the hand to be below the preset threshold (F = 50 N). The system allows the assessment of the range of movement, the positional error between the target and the reached position, the amount of added assistance (the interface force between the hand and the robot). We demonstrate the operation in two hemiplegic patients. The patients and therapist suggested after the tests that the new system is straightforward and intuitive for clinical applications. [Projekat Ministartsva nauke Republike Srbije, br. RS35003]
关键词：stroke; disability; assistant robot; modified internal model control; assessment
