Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left" rowspan="2">Action</td><td class="align_center" colspan="2"><svg height="12.0621pt" id="M96" style="vertical-align:-3.2957pt" version="1.1" viewbox="-0.0498162 -8.7664 43.6337 12.0621" width="43.6337pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M43 650V622C120 616 128 612 128 526V124C128 39 120 33 34 27V0H270C392 0 492 25 567 83C643 141 690 230 690 350C690 444 655 517 605 565C543 625 450 650 323 650H43ZM213 547C213 587 217 598 226 604C236 612 262 617 304 617C371 617 429 604 474 576C554 529 592 439 592 336C592 176 505 36 319 36C246 36 213 55 213 131V547Z" id="g121-66"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="735" vert-adv-y="735" xpluscharwidth="9.555"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,9.438,0)"><path 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vert-adv-y="434" xpluscharwidth="39.51838698"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,39.519,3.132)"><path d="M185 344V453C137 433 92 421 41 413V386C100 378 104 375 104 310V106C104 41 97 35 33 30V0H268V30C190 35 185 41 185 107V283C206 340 240 371 267 371C282 371 296 364 310 351C316 344 325 343 336 348C357 357 369 378 369 399C369 424 345 451 310 451C262 451 219 397 187 344H185Z" id="g58-112"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="380" vert-adv-y="380" xpluscharwidth="42.9769886"></glyph.data></g></svg>/mm (mean ± SD)</td></tr><tr class="thead"><td class="align_center">Healthy subjects (10 men)</td><td class="align_center">Hemiplegic patients (3 men)</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Passive-guided line tracking</td><td class="align_center">0.51 ± 0.13</td><td class="align_center">0.39 ± 0.01</td></tr><tr><td class="align_left">Passive-guided circle tracking</td><td class="align_center">0.53 ± 0.32</td><td class="align_center">0.69 ± 0.52</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

The deviation of actual trajectory and designed trajectory during passive-guided mode movement.

Journal of Healthcare Engineering

tab3

Table 3

Table 3: Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training 

Table 3 | Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training 