{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T09:52:07Z","timestamp":1762509127632,"version":"build-2065373602"},"reference-count":25,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2024,3,25]],"date-time":"2024-03-25T00:00:00Z","timestamp":1711324800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Project of science and technology of the Henan Province","award":["242102220116"],"award-info":[{"award-number":["242102220116"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The implementation of a progressive rehabilitation training model to promote patients\u2019 motivation efforts can greatly restore damaged central nervous system function in patients. Patients\u2019 active engagement can be effectively stimulated by assist-as-needed (AAN) robot rehabilitation training. However, its application in robotic therapy has been hindered by a simple determination method of robot-assisted torque which focuses on the evaluation of only the affected limb\u2019s movement ability. Moreover, the expected effect of assistance depends on the designer and deviates from the patient\u2019s expectations, and its applicability to different patients is deficient. In this study, we propose a control method with personalized treatment features based on the idea of estimating and mapping the stiffness of the patient\u2019s healthy limb. This control method comprises an interactive control module in the task-oriented space based on the quantitative evaluation of motion needs and an inner-loop position control module for the pneumatic swing cylinder in the joint space. An upper-limb endpoint stiffness estimation model was constructed, and a parameter identification algorithm was designed. The upper limb endpoint stiffness which characterizes the patient\u2019s ability to complete training movements was obtained by collecting surface electromyographic (sEMG) signals and human\u2013robot interaction forces during patient movement. Then, the motor needs of the affected limb when completing the same movement were quantified based on the performance of the healthy limb. A stiffness-mapping algorithm was designed to dynamically adjust the rehabilitation training trajectory and auxiliary force of the robot based on the actual movement ability of the affected limb, achieving AAN control. Experimental studies were conducted on a self-developed pneumatic upper limb rehabilitation robot, and the results showed that the proposed AAN control method could effectively estimate the patient\u2019s movement needs and achieve progressive rehabilitation training. This rehabilitation training robot that simulates the movement characteristics of the patient\u2019s healthy limb drives the affected limb, making the intensity of the rehabilitation training task more in line with the patient\u2019s pre-morbid limb-use habits and also beneficial for the consistency of bilateral limb movements.<\/jats:p>","DOI":"10.3390\/s24072082","type":"journal-article","created":{"date-parts":[[2024,3,25]],"date-time":"2024-03-25T12:32:36Z","timestamp":1711369956000},"page":"2082","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Patient\u2019s Healthy-Limb Motion Characteristic-Based Assist-As-Needed Control Strategy for Upper-Limb Rehabilitation Robots"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8591-8034","authenticated-orcid":false,"given":"Bingjing","family":"Guo","sequence":"first","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"},{"name":"Collaborative Innovation Center of Henan Province for High-End Bearing, Luoyang 471003, China"},{"name":"Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang 471000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-3724-2583","authenticated-orcid":false,"given":"Zhenzhu","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mingxiang","family":"Huang","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiangpan","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"},{"name":"Collaborative Innovation Center of Henan Province for High-End Bearing, Luoyang 471003, China"},{"name":"Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang 471000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianhai","family":"Han","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"},{"name":"Collaborative Innovation Center of Henan Province for High-End Bearing, Luoyang 471003, China"},{"name":"Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang 471000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,3,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2018\/3238165","article-title":"Stroke in the 21st Century: A snapshot of the burden, epidemiology, and quality of life","volume":"2018","author":"Donkor","year":"2018","journal-title":"Stroke Res. 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