| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 102 === Frozen shoulder is a functional disorder related to shoulder muscles. Among many treatment strategies, rehabilitation exercise is one of the most common and viable therapy.
In this research, a new 8 degrees of freedom (DOFs) rehabilitation robot arm named NTUH-II has been developed for frozen shoulder rehabilitation in our laboratory. The robot arm is able to provide most of upper limb rehabilitation motions in passive, active, and assistive modes. There are many improvements for NTUH-II from the previous version NTUH-ARM, also developed in our laboratory such as larger shoulder flexion/extension range of motion, shoulder localization with laser tools, side-changing, and shoulder traction.
This work combines knowledge from rehabilitation medicine to robotic engineering. From the nature of muscle stretching, the exponential torque-angle relationship curve can be found, and thus it is possible to model and evaluate the condition of the patient’s motion quality. The use of two parameters, stiffness and control authority, is proposed in this work. Based on these two parameters, an adjustment method of dynamic stiffness model and assistance torque gain is developed and implemented on NTUH-II.
The control algorithm proposed in this research can customize the rehabilitation to meet the individual needs of frozen shoulder patients. Various experiments have been conducted on healthy subjects in National Taiwan University Hospital, and appealing performance has been observed, which validates the method proposed in this paper.
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