Many stroke and spinal cord injured (SCI) patients suffer from a paretic arm movement, which can be characterized by a limited shoulder flexion. We consider a possibility to assist the patient in slow arbitrary arm flexions within a large range of motion. To address this issue, we propose a shoulder flexion dependent weight support during robot-assisted therapy of the upper limb. Inverse static models of the cable-driven robotics and the passive human arm are used to estimate the required forces at the ropes to flex the upper arm in order to compensate a given percentage of the arm weight. Our results show that conventional constant rope forces during a therapy may produce an over- or undercompensated weight support, whereas the proposed adaptive approach achieves a desired larger range of motion.
CITATION STYLE
Knuth, S., Passon, A., Dähne, F., Niedeggen, A., Schmehl, I., & Schauer, T. (2017). Adaptive arm weight support using a cable-driven robotic system. In Biosystems and Biorobotics (Vol. 15, pp. 1317–1321). Springer International Publishing. https://doi.org/10.1007/978-3-319-46669-9_215
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