TY - JOUR
T1 - Design and control of soft rehabilitation robots actuated by pneumatic muscles
T2 - State of the art
AU - Liu, Quan
AU - Zuo, Jie
AU - Zhu, Chang
AU - Xie, Sheng Quan
N1 - Publisher Copyright:
© 2020 Elsevier B.V.
PY - 2020/12
Y1 - 2020/12
N2 - 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.
AB - 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.
KW - Control strategy
KW - Mechanical structure
KW - Pneumatic muscle (PM)
KW - Rehabilitation robot
UR - https://www.scopus.com/pages/publications/85089545218
U2 - 10.1016/j.future.2020.06.046
DO - 10.1016/j.future.2020.06.046
M3 - 文章
AN - SCOPUS:85089545218
SN - 0167-739X
VL - 113
SP - 620
EP - 634
JO - Future Generation Computer Systems
JF - Future Generation Computer Systems
ER -