Medical Engineering & Physics
Volume 28, Issue 4 , Pages 348-355, May 2006

A prototype rehabilitation device with variable resistance and joint motion control

  • Shufang Dong

      Affiliations

    • Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA
    • ,
  • Ke-Qian Lu

      Affiliations

    • Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA
    • ,
  • J.Q. Sun

      Affiliations

    • Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA
    • Corresponding Author InformationCorresponding author. Tel.: +1 302 831 8686; fax: +1 302 831 3619.
    • ,
  • Katherine Rudolph

      Affiliations

    • Department of Physical Therapy, University of Delaware, Newark, DE 19716, USA

Received 19 July 2004; received in revised form 7 June 2005; accepted 29 June 2005. published online 22 August 2005.

Abstract 

Resistance exercise has been widely reported to have positive rehabilitation effects for patients with neuromuscular and orthopaedic conditions. This paper presents the design of a versatile rehabilitation device in the form of a rotating joint arm mounted on the adjustable seat that provides passive resistance during strength training for muscles. The resistance is supplied by a magnetorheological damper. Intelligent controls are developed to produce resistance force based on the prescription of the therapist. The device provides both isometric and isokinetic strength training and is reconfigurable for several human joints. Special consideration has been given to the human–machine interaction in the adaptive control algorithms that can modify the behavior of the device to account for strength gains or muscle fatigue.

Keywords: Joint motion control, Rehabilitation, Magnetorheological, Fluid, Smart materials, Intelligent control

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PII: S1350-4533(05)00136-0

doi:10.1016/j.medengphy.2005.06.005

Medical Engineering & Physics
Volume 28, Issue 4 , Pages 348-355, May 2006

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