Rehabilitation Robotic Prostheses for Upper Extremity

Abstract

One of the most valuable applications for medical mechatronics is the robotic prosthesis for it not only plays a crucial role in rehabilitation but also helps much in improving life quality of patients. Recently, various rehabilitation robots have been developed. The method to reduce the complexity is first introduced in this chapter. The method is based on a robust control law and an independent joint model, and is derived in detail in this chapter. The chapter emphasizes the mechanical mechanisms of the rehabilitation robot hand and the associated power systems. It focuses on robust control law design based on the independent joint model to reduce the complexity of the design process. The chapter also introduces a method which can improve the stability of neuroprostheses, and nontarget electromyography (EMG) pattern filtering (NTPF) scheme. The results have shown that the introduced NTPF scheme is able to maintain a high EMG classification rate.