Abstract:
The presence of abnormal muscle retraction and contraction during the rehabilitation training poses significant challenges for patients with lower limb dysfunction caused...Show MoreMetadata
Abstract:
The presence of abnormal muscle retraction and contraction during the rehabilitation training poses significant challenges for patients with lower limb dysfunction caused by stroke, as it hinders their ability to regain lower limb function. Therefore, it is vital to detect spasm force during the training to adjust the force generated by rehabilitation robots. This article presents the design and development of a capacitive force/torque (F/T) sensor for lower limb rehabilitation to detect muscle spasm. The double differential measurement method and a decoupling structure with built-in crossed roller bearing were adopted to achieve high sensitivity and high accuracy. Calibration tests were conducted with a commercial torque and rotational speed sensor to verify the design and accuracy of the capacitive F/T sensor. Results show that the proposed sensor exhibits a linearity of 1.04%, a resolution of 0.05 {\mathrm{ N}}\cdot {\mathrm{ m}} , and a maximum measurement error of approximately 2.07%. Lastly, experiments were conducted to assess spasm detection capabilities in a lower limb rehabilitation robot that has capacitive F/T sensors installed on knee and hip joints.
Published in: IEEE Transactions on Instrumentation and Measurement ( Volume: 72)
Funding Agency:
Department of Mechatronics Engineering, College of Mechanical Engineering, Guangxi University, Nanning, China
Lin Chen received the M.S. degree in computer applied technology from Guangxi University, Nanning, China, in 2004, and the Ph.D. degree in biomedical engineering from the Huazhong University of Science and Technology, Wuhan, China, in 2008.
Since 2011, she has been a Professor with the College of Mechanical Engineering, Guangxi University. She has hosted and participated in as many as ten national or regional fund projects...Show More
Lin Chen received the M.S. degree in computer applied technology from Guangxi University, Nanning, China, in 2004, and the Ph.D. degree in biomedical engineering from the Huazhong University of Science and Technology, Wuhan, China, in 2008.
Since 2011, she has been a Professor with the College of Mechanical Engineering, Guangxi University. She has hosted and participated in as many as ten national or regional fund projects...View more
Department of Mechatronics Engineering, College of Mechanical Engineering, Guangxi University, Nanning, China
Sichuang Yang received the M.Ns. degree from Monash University, Melbourne, VIC, Australia, in 2016. He is currently pursuing the Ph.D. degree in mechanical engineering with Guangxi University, Nanning, China.
His research interests include gait recognition and robotic trajectory planning.
Sichuang Yang received the M.Ns. degree from Monash University, Melbourne, VIC, Australia, in 2016. He is currently pursuing the Ph.D. degree in mechanical engineering with Guangxi University, Nanning, China.
His research interests include gait recognition and robotic trajectory planning.View more
Department of Mechatronics Engineering, College of Mechanical Engineering, Guangxi University, Nanning, China
Department of Research and Development Management, Shenzhen Inovance Technology Company Ltd., Shenzhen, China
Xuetao Zhang received the B.E. degree in mechanical engineering from the North China University of Technology, Beijing, China, in 2015, and the M.S. degree in mechanical engineering from Guangxi University, Nanning, China, in 2022.
His current research interests include torque transducer, motion control, and machine learning.
Xuetao Zhang received the B.E. degree in mechanical engineering from the North China University of Technology, Beijing, China, in 2015, and the M.S. degree in mechanical engineering from Guangxi University, Nanning, China, in 2022.
His current research interests include torque transducer, motion control, and machine learning.View more
Department of Mechatronics Engineering, College of Mechanical Engineering, Guangxi University, Nanning, China
Taiwei Li received the M.S. degree in mechanical engineering from the Guilin University of Technology, Guilin, China, in 2016.
His current research interests include torque transducer, robot joint structure, and machine learning.
Taiwei Li received the M.S. degree in mechanical engineering from the Guilin University of Technology, Guilin, China, in 2016.
His current research interests include torque transducer, robot joint structure, and machine learning.View more
Department of Rehabilitation, The Second Affiliated Hospital, Guangxi Medical University, Nanning, China
Yaobin Long received the Ph.D. degree in pediatrics from Guangxi Medical University, Nanning, China, in 2013.
He is currently a Master Tutor and the Director of the Rehabilitation Medicine Department, The Second Affiliated Hospital, Guangxi Medical University, and the Principal of Guangxi Rehabilitation Clinical Key Specialty. He has presided over two Guangxi provincial projects and a number of department-level projects, p...Show More
Yaobin Long received the Ph.D. degree in pediatrics from Guangxi Medical University, Nanning, China, in 2013.
He is currently a Master Tutor and the Director of the Rehabilitation Medicine Department, The Second Affiliated Hospital, Guangxi Medical University, and the Principal of Guangxi Rehabilitation Clinical Key Specialty. He has presided over two Guangxi provincial projects and a number of department-level projects, p...View more
Department of Mechatronics Engineering, College of Mechanical Engineering, Guangxi University, Nanning, China
Haihong Pan received the Ph.D. degree in mechanical engineering from the Huazhong University of Science and Technology, Wuhan, China, in 2007.
Since 2008, he has been a Professor with the College of Mechanical Engineering, Guangxi University, Nanning, China. He has hosted and participated in as many as 16 national or regional fund projects. He has authored or coauthored more than 60 technical articles and holds more than 5...Show More
Haihong Pan received the Ph.D. degree in mechanical engineering from the Huazhong University of Science and Technology, Wuhan, China, in 2007.
Since 2008, he has been a Professor with the College of Mechanical Engineering, Guangxi University, Nanning, China. He has hosted and participated in as many as 16 national or regional fund projects. He has authored or coauthored more than 60 technical articles and holds more than 5...View more
Contents Department of Mechatronics Engineering, College of Mechanical Engineering, Guangxi University, Nanning, China
Lin Chen received the M.S. degree in computer applied technology from Guangxi University, Nanning, China, in 2004, and the Ph.D. degree in biomedical engineering from the Huazhong University of Science and Technology, Wuhan, China, in 2008.
Since 2011, she has been a Professor with the College of Mechanical Engineering, Guangxi University. She has hosted and participated in as many as ten national or regional fund projects. She has authored or coauthored more than 50 technical articles and holds more than 20 patents. Her research interests include automation and control, robotics, digital signal detection and processing, ac servo drives, battery management technology, and other related research work.
Lin Chen received the M.S. degree in computer applied technology from Guangxi University, Nanning, China, in 2004, and the Ph.D. degree in biomedical engineering from the Huazhong University of Science and Technology, Wuhan, China, in 2008.
Since 2011, she has been a Professor with the College of Mechanical Engineering, Guangxi University. She has hosted and participated in as many as ten national or regional fund projects. She has authored or coauthored more than 50 technical articles and holds more than 20 patents. Her research interests include automation and control, robotics, digital signal detection and processing, ac servo drives, battery management technology, and other related research work.View more
Department of Mechatronics Engineering, College of Mechanical Engineering, Guangxi University, Nanning, China
Sichuang Yang received the M.Ns. degree from Monash University, Melbourne, VIC, Australia, in 2016. He is currently pursuing the Ph.D. degree in mechanical engineering with Guangxi University, Nanning, China.
His research interests include gait recognition and robotic trajectory planning.
Sichuang Yang received the M.Ns. degree from Monash University, Melbourne, VIC, Australia, in 2016. He is currently pursuing the Ph.D. degree in mechanical engineering with Guangxi University, Nanning, China.
His research interests include gait recognition and robotic trajectory planning.View more
Department of Mechatronics Engineering, College of Mechanical Engineering, Guangxi University, Nanning, China
Department of Research and Development Management, Shenzhen Inovance Technology Company Ltd., Shenzhen, China
Xuetao Zhang received the B.E. degree in mechanical engineering from the North China University of Technology, Beijing, China, in 2015, and the M.S. degree in mechanical engineering from Guangxi University, Nanning, China, in 2022.
His current research interests include torque transducer, motion control, and machine learning.
Xuetao Zhang received the B.E. degree in mechanical engineering from the North China University of Technology, Beijing, China, in 2015, and the M.S. degree in mechanical engineering from Guangxi University, Nanning, China, in 2022.
His current research interests include torque transducer, motion control, and machine learning.View more
Department of Mechatronics Engineering, College of Mechanical Engineering, Guangxi University, Nanning, China
Taiwei Li received the M.S. degree in mechanical engineering from the Guilin University of Technology, Guilin, China, in 2016.
His current research interests include torque transducer, robot joint structure, and machine learning.
Taiwei Li received the M.S. degree in mechanical engineering from the Guilin University of Technology, Guilin, China, in 2016.
His current research interests include torque transducer, robot joint structure, and machine learning.View more
Department of Rehabilitation, The Second Affiliated Hospital, Guangxi Medical University, Nanning, China
Yaobin Long received the Ph.D. degree in pediatrics from Guangxi Medical University, Nanning, China, in 2013.
He is currently a Master Tutor and the Director of the Rehabilitation Medicine Department, The Second Affiliated Hospital, Guangxi Medical University, and the Principal of Guangxi Rehabilitation Clinical Key Specialty. He has presided over two Guangxi provincial projects and a number of department-level projects, published three SCI articles as the first author, and authored or coauthored more than 90 domestic core Chinese journals. His research interests include stroke rehabilitation, dysphagia rehabilitation, spinal cord injury rehabilitation, and nervous system diseases in children.
Yaobin Long received the Ph.D. degree in pediatrics from Guangxi Medical University, Nanning, China, in 2013.
He is currently a Master Tutor and the Director of the Rehabilitation Medicine Department, The Second Affiliated Hospital, Guangxi Medical University, and the Principal of Guangxi Rehabilitation Clinical Key Specialty. He has presided over two Guangxi provincial projects and a number of department-level projects, published three SCI articles as the first author, and authored or coauthored more than 90 domestic core Chinese journals. His research interests include stroke rehabilitation, dysphagia rehabilitation, spinal cord injury rehabilitation, and nervous system diseases in children.View more
Department of Mechatronics Engineering, College of Mechanical Engineering, Guangxi University, Nanning, China
Haihong Pan received the Ph.D. degree in mechanical engineering from the Huazhong University of Science and Technology, Wuhan, China, in 2007.
Since 2008, he has been a Professor with the College of Mechanical Engineering, Guangxi University, Nanning, China. He has hosted and participated in as many as 16 national or regional fund projects. He has authored or coauthored more than 60 technical articles and holds more than 50 patents. His research interests include electromechanical control theory and method of complex electromechanical systems, all digital networked ac servo drive motor control theory and technology, and other related research work.
Haihong Pan received the Ph.D. degree in mechanical engineering from the Huazhong University of Science and Technology, Wuhan, China, in 2007.
Since 2008, he has been a Professor with the College of Mechanical Engineering, Guangxi University, Nanning, China. He has hosted and participated in as many as 16 national or regional fund projects. He has authored or coauthored more than 60 technical articles and holds more than 50 patents. His research interests include electromechanical control theory and method of complex electromechanical systems, all digital networked ac servo drive motor control theory and technology, and other related research work.View more
