ArticleJournal of healthcare engineering2017
Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings.
Article in Journal of healthcare engineering, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.
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Who cites it
7 citing papers in PubMed.
- A Compositional Calibration Framework for Multi-Channel Functional Electrical Stimulation Enabling Hand Gesture Generation.Bioengineering (Basel, Switzerland) · 2026Article
- Model Predictive Control with a PSO Modelling Approach for Position Control of a Compliant Ankle Rehabilitation Robot.Biomimetics (Basel, Switzerland) · 2026Article
- Review of Soft Robotic Gloves and Functional Electrical Stimulation Affecting Hand Function Rehabilitation for Stroke Patients.Biomimetics (Basel, Switzerland) · 2026Review
- Robot-Assisted Dynamic Interaction of Hemiplegic Upper Limbs with Complex Objects Based on Enhanced Feedforward-Impedance Control.Biomimetics (Basel, Switzerland) · 2025Article
- Model Predictive Control with Optimal Modelling for Pneumatic Artificial Muscle in Rehabilitation Robotics: Confirmation of Validity Though Preliminary Testing.Biomimetics (Basel, Switzerland) · 2025Article
- Earable Ω (OMEGA): A Novel Clenching Interface Using Ear Canal Sensing for Human Metacarpophalangeal Joint Control by Functional Electrical Stimulation.Sensors (Basel, Switzerland) · 2022Article
- Mobile Mechatronic/Robotic Orthotic Devices to Assist-Rehabilitate Neuromotor Impairments in the Upper Limb: A Systematic and Synthetic Review.Frontiers in neuroscience · 2018Article
Corrections and comments
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Authors and funding
7 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
The reach-to-grasp activities play an important role in our daily lives. The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs). In order to expand the useful range of RUPERT especially for patients with flaccid paralysis, functional electrical stimulation (FES) is taken to activate paralyzed arm muscles. As both the exoskeleton robot driven by PAMs and the neuromuscular skeletal system under FES possess the highly nonlinear and time-varying characteristics, iterative learning control (ILC) is studied and is taken to control this newly designed hybrid rehabilitation system for reaching trainings. Hand function rehabilitation refers to grasping. Because of tiny finger muscles, grasping and releasing are realized by FES array electrodes and matrix scan method. By using the surface electromyography (EMG) technique, the subject's active intent is identified. The upper limb rehabilitation robot powered by PAMs cooperates with FES arrays to realize active reach-to-grasp trainings, which was verified through experiments.
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