Page 202 - Control Theory in Biomedical Engineering

Medical robotics 183

Lo and Xie, 2012; Rodrı ´guez-Prunotto et al., 2014; Wang et al., 2014;
Jobba ´gy et al., 2014; Pitkin, 2015; Platz et al., 2017; Wang et al., 2017;
Hakim et al., 2017; Ergasheva, 2017; Nadas et al., 2017; Rupal et al.,
2017; Moreno et al., 2018; Huo et al., 2016) and lower body extremity
rehabilitation devices (Dollar and Herr, 2008; Mohammed and Amirat,
2009; Mohammed et al., 2012; Carpino et al., 2013; Li et al., 2013; Tucker
et al., 2015; Huo et al., 2016; Chen et al., 2016; Rupal et al., 2017; Yang
et al., 2017b; Pamungkas et al., 2019). In reality, the development of bipedal
robots has promoted the development of lower extremity rehabilitation
devices as bipedal robots and related technologies, such as stability control
and motion planning, can be applied in human lower limb rehabilitation
training and assisted walking (Yang et al., 2017b). The model-based gait
planning method mainly includes the multi-link models (see (Aloulou
and Boubaker, 2010, 2011, 2012, 2013a,b, 2015, 2016 and related refer-
ences) and the inverted pendulum model (Benrejeb and Boubaker, 2012;
Boubaker, 2012, 2013, 2017; Boubaker and Iriarte, 2017).
Some research papers focus on hand rehabilitation devices (Butcher and
Meals, 2002; Balasubramanian et al., 2010; Heo et al., 2012; Sale et al., 2012;
Zuo and Olson, 2014; Meng et al., 2017; Yue et al., 2017; Chu and Patter-
son, 2018; Aggogeri et al., 2019).
In Brewer et al. (2007), the authors classify rehabilitation robots by reha-
bilitation applications: gross motor movements (e.g., reaching), bilateral
training, fine motor movements (e.g., grasping), and motor or visual feed-
back distortion to induce after-effects, telerehabilitation, and assessment.
In Gassert and Dietz (2018), rehabilitation robots are categorized into
grounded exoskeletons, grounded end-effectors devices, and wearable
exoskeletons (See Fig. 26). The design approaches depend on whether
the extremity of the limb is trained or not. Grounded end-effectors devices
will typically achieve higher motion dynamics and allow the rendering of
a wider range of impedances than exoskeleton devices with a serial kine-
matic structure, where proximal joints need to move distal joints (Gassert
and Dietz, 2018).
A coarser classification than that of the previous one is proposed by
Aggogeri et al. (2019), who claimed that a primary categorization of reha-
bilitation robotic technologies is based on the design concepts of the device:
end-effectors or exoskeleton. An exoskeleton is a wearable robot attached to
the user’s limbs, in order to enhance the user’s movements. It focuses on the
anatomy of the subject’s hand following the limb segments; each degree of
freedom is aligned with the corresponding human joint. Fig. 27 illustrates a