Liu, Q, Zuo, J, Zhu, C et al. (1 more author) (2020) Design and control of soft rehabilitation robots actuated by pneumatic muscles: State of the art. Future Generation Computer Systems, 113. pp. 620-634. ISSN 0167-739X
Abstract
Robot-assisted rehabilitation has become a new mainstream trend for the treatment of stroke patients with movement disability. Pneumatic muscle (PM) is one of the most promising actuators for rehabilitation robots, due to its inherent compliance and safety features. In this paper, we conduct a systematic review on the soft rehabilitation robots driven by pneumatic muscles. This review discusses up to date mechanical structures and control strategies for PMs-actuated rehabilitation robots. A variety of state-of-the-art soft rehabilitation robots are classified and reviewed according to the actuation configurations. Special attentions are paid to control strategies under different mechanical designs, with advanced control approaches to overcome PM’s highly nonlinear and time-varying behaviors and to enhance the adaptability to different patients. Finally, we analyze and highlight the current research gaps and the future directions in this field, which is potential for providing a reliable guidance on the development of advanced soft rehabilitation robots.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 Elsevier B.V. All rights reserved. This is an author produced version of an article published in Future Generation Computer Systems. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Mechanical structure; Control strategy; Pneumatic muscle (PM); Rehabilitation robot |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number Royal Society ICA\R1\180203 |
Depositing User: | Symplectic Publications |
Date Deposited: | 11 Sep 2020 10:47 |
Last Modified: | 29 Jun 2021 00:38 |
Status: | Published |
Publisher: | Elsevier |
Identification Number: | 10.1016/j.future.2020.06.046 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:165301 |