ON HUMAN ROBOT INTERACTION MODALITIES IN THE UPPER LIMB REHABILITATION AFTER STROKE

摘要

The paper presents an overview of the current strategies in the human robot interaction modalities implemented in robotic rehabilitation systems for the upper limb. An in-depth analysis reveals the potential benefits of the existing approaches in relation to the post-stroke stage of the patient. Using several human body anthropometric models and experimental data collected from a group of patients the motion types and amplitudes, limb segment lengths and weights are calculated. Medical protocols for the rehabilitation of post-stroke patients are proposed in correlation with the latest studies and trials. The experimental and calculated data represent a critical point in the preliminary development of new conceptual structures for robotic assisted rehabilitation to ensure an efficient recovery of the post-stroke patients. Keywords: human robot interaction, post-stroke robotic rehabilitation, control strategies, medical protocols