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Wearable and convertible passive and active movement training robot: apparatus and method
Wearable and convertible passive and active movement training robot: apparatus and method
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机译:可穿戴和可转换的被动和主动运动训练机器人:设备和方法
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摘要
In respects of limitations and problems of motor function training devices, the present invention provides a wearable and convertible device and a method for controlling combined motor function training. This device integrates the functions of both passive stretching function in the existing CPM devices and additional active assistive training function. Without a force/torque sensor element in the device, the present passive stretching control can still be adapted to hypertonia (high muscle tone or stiffness of joints) of the limb, and the present active assistive control can still be implemented for enhancing voluntary active movement from patients. With such present method, much more applications of active assistive training are supported at substantially no additional cost. On the other hand, the safety of such stretching devices without using force/torque sensor is improved, which assists in increasing the efficiency of the device of the present invention.
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