{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,12]],"date-time":"2025-11-12T13:40:33Z","timestamp":1762954833108,"version":"3.41.2"},"reference-count":7,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2009,5,1]],"date-time":"2009-05-01T00:00:00Z","timestamp":1241136000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,5,1]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present the control methods of the exoskeleton robotic arm for stroke rehabilitation.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The robotic arm is driven by the pneumatic muscle actuators. The control system provides independent control for the robot. The joint axes of the robotic arm are arranged to mimic the natural upper limb workspace.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>Findings are the classification of training modes and control methods of rehabilitation training, and the characters of both the instant spasm and the sustaining one.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>This paper is a preliminary step in the control system and the kinematical characteristics should be analyzed to achieve high precision of movement.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>Based on a hierarchical structure, the control system allows the execution of sequence of switching control methods: position, force, force\/position and impedance. Patient\u2010active\u2010robot\u2010passive and patient\u2010passive\u2010robot\u2010active (PPRA) training modes are also presented in this paper. In PPRA mode, the robotic arm can provide pre\u2010specified resistances on the patient's arm. Both instant and sustaining spasms are taken into account for safety.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910950469","type":"journal-article","created":{"date-parts":[[2009,5,2]],"date-time":"2009-05-02T07:02:30Z","timestamp":1241247750000},"page":"210-220","source":"Crossref","is-referenced-by-count":24,"title":["Control methods for exoskeleton rehabilitation robot driven with pneumatic muscles"],"prefix":"10.1108","volume":"36","author":[{"given":"Caihua","family":"Xiong","sequence":"first","affiliation":[]},{"given":"Xianzhi","family":"Jiang","sequence":"additional","affiliation":[]},{"given":"Ronglei","family":"Sun","sequence":"additional","affiliation":[]},{"given":"XiaoLin","family":"Huang","sequence":"additional","affiliation":[]},{"given":"Youlun","family":"Xiong","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022031720005978400_b1","doi-asserted-by":"crossref","unstructured":"Chou, C.P. and Hannaford, B. (1966), \u201cMeasurement and modeling of McKibben pneumatic artificial muscles\u201d, IEEE Transactions on Robotics and Automation, Vol. 12, pp. 90\u2010102.","DOI":"10.1109\/70.481753"},{"key":"key2022031720005978400_b2","doi-asserted-by":"crossref","unstructured":"Deneve, A., Moughamir, S., Afilal, L. and Zaytoon, J. (2008), \u201cControl system design of a 3\u2010DOF upper limbs rehabilitation robot\u201d, Computer Methods and Programs in Biomedicine, Vol. 89 No. 2, pp. 202\u201014.","DOI":"10.1016\/j.cmpb.2007.07.006"},{"key":"key2022031720005978400_b4","doi-asserted-by":"crossref","unstructured":"McDonald, C.M. (1998), \u201cLimb contracture in progressive neuromuscular disease and the role of stretching, orthotics, and surgery\u201d, Rehabilitation Neuromuscular Disease, Vol. 9, pp. 187\u2010211.","DOI":"10.1016\/S1047-9651(18)30286-9"},{"key":"key2022031720005978400_b5","doi-asserted-by":"crossref","unstructured":"Reynolds, D.B., Repperger, D.W., Phillips, C.A. and Bandry, G. (2003), \u201cModeling the dynamic characteristics of pneumatic muscle\u201d, Annals of Biomedical Engineering, Vol. 31, pp. 310\u20107.","DOI":"10.1114\/1.1554921"},{"key":"key2022031720005978400_b6","doi-asserted-by":"crossref","unstructured":"Schiele, A. and van der Helm, F.C. (2006), \u201cKinematic design to improve ergonomics in human machine interaction\u201d, IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 14, pp. 456\u201069.","DOI":"10.1109\/TNSRE.2006.881565"},{"key":"key2022031720005978400_b7","unstructured":"Walmsey, R.P. (2001), \u201cMovement of the axis of rotation of the glenohumeral joint while working on the Cybex II dynamometer. Part I: flexion\/extension, Part II: abduction\/adduction\u201d, Isokinetics and Excercise Science, Vol. 9, pp. 16\u201025."},{"key":"key2022031720005978400_b3","doi-asserted-by":"crossref","unstructured":"Zhang, L.\u2010Q., Park, H.\u2010S. and Ren, Y. (2007), \u201cDeveloping an intelligent robotic arm for stroke rehabilitation\u201d, Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, Noordwijk, The Netherlands, June 12\u201015, pp. 12\u201015.","DOI":"10.1109\/ICORR.2007.4428543"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910910950469","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910950469\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910950469\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:24Z","timestamp":1753401024000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/36\/3\/210-220\/179952"}},"subtitle":[],"editor":[{"given":"Youlun","family":"Xiong","sequence":"first","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2009,5,1]]},"references-count":7,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2009,5,1]]}},"alternative-id":["10.1108\/01439910910950469"],"URL":"https:\/\/doi.org\/10.1108\/01439910910950469","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2009,5,1]]}}}