Rehabilitation System Using Teleoperation with Force-Feedback-Based Impedance Adjustment and EMG-Moment Model for Arm Muscle Strength Assessment
Minh Duc Duong*, Kazuhiko Terashima**, Takanori Miyoshi**,
and Tatsuya Okada**
*Department of Industrial Automation, Hanoi University of Technology 01 Dai Co Viet Road, Hanoi, Vietnam
**Department of Production Systems Engineering, Toyohashi University of Technology 1-1 Hibarigaoka, Tempaku-cho, Toyohashi 441-8580, Japan
In this paper, at first, a teleoperation robot systemwith haptic feedback for rehabilitation is presented. A teleoperation mechanism capable of providing force feedback by means of adjusting the system’s impedance is proposed. The stability of the teleoperation with haptic feedback via a time-delay communication environment is mathematically proved. The proposal operates theoretically with both passive and active assisted movement using teleoperation to rehabilitate of upper limb function. An EMG-moment arm model is proposed for assessing muscle strength. The performance of a two-joint link model using six muscles and a nonlinear relationship between EMG signals and muscle force is confirmed feasible in experiments with five subjects.
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