Intelligent Robotic Approach for After-stroke Hand Rehabilitation

摘要

This paper presents the design of an intelligent haptic robotic glove (IHRG) model for the rehabilitation of the patients that have been diagnosed with a cerebrovascular accident (CVA). Total loss or loss of range of motion, decreased reaction times and disordered movement organization create deficits in motor control, which affect the patient’s independent living. The control system for a rehabilitation hand exoskeleton is discussed. One contribution is given by using a velocity observer and a force observer for performance evaluation. The disturbance effects are eliminated by a cascade closed loop control with velocity and force observers. The performance of the control system is demonstrated by the simulation. The second proposed control implementation version has a great advantage - the possibility to specify some vocal commands, which will help the patient to make a lot of medical exercises by themselves.