부산대학교 도서관

In this article, a cooperative bilateral upper-limb rehabilitation robotic system based on mirror therapy (MT) and virtual stimulation was developed to assist hemiplegia in rehabilitation training. The hemiplegia's affected limb can be placed on one of the robotic arms with a servomotor, and the healthy limb is placed on another side without servomotor. With the assistance of the robotic arm, the affected limb can track the healthy limb to perform mirror motion to complete the rehabilitation training. The robotic arm device can be adjusted personally to assist the patient's elbow joint flexion and wrist joint rotation. In order to enhance the willingness of patients to actively recover. A game-based rehabilitation training was developed to realize human–computer interaction and to provide visual stimulation. The adaptive proportional–integral–derivative (PID) controller based on radial basis function (RBF) neural network has been adopted to improve the tracking performance of the affected side of robotic arm. The RBF neural network updates its parameters through the error signal between output of network and output of the system. The parameters of PID are updated by Jacobian matrix and the movement error between the healthy side and the affected side. Its abilities of RBF-PID controller about response speed, anti-interference and tracks are better than conventional PID controller's through experimental validations. The system response was analyzed and graphed for different loading conditions. These error values of the angle of corresponding joint on both sides can be interpreted as very low. The system was proved to complete rehabilitation training and reflect the patient's awareness of active rehabilitation. [ABSTRACT FROM AUTHOR]