Patient’s Healthy-Limb Motion Characteristic-Based Assist-As-Needed Control Strategy for Upper-Limb Rehabilitation Robots

Sensors, Journal Year: 2024, Volume and Issue: 24(7), P. 2082 - 2082

Published: March 25, 2024

The implementation of a progressive rehabilitation training model to promote patients’ motivation efforts can greatly restore damaged central nervous system function in patients. Patients’ active engagement be effectively stimulated by assist-as-needed (AAN) robot training. However, its application robotic therapy has been hindered simple determination method robot-assisted torque which focuses on the evaluation only affected limb’s movement ability. Moreover, expected effect assistance depends designer and deviates from patient’s expectations, applicability different patients is deficient. In this study, we propose control with personalized treatment features based idea estimating mapping stiffness healthy limb. This comprises an interactive module task-oriented space quantitative motion needs inner-loop position for pneumatic swing cylinder joint space. An upper-limb endpoint estimation was constructed, parameter identification algorithm designed. upper limb characterizes ability complete movements obtained collecting surface electromyographic (sEMG) signals human–robot interaction forces during patient movement. Then, motor when completing same were quantified performance A stiffness-mapping designed dynamically adjust trajectory auxiliary force actual limb, achieving AAN control. Experimental studies conducted self-developed robot, results showed that proposed could estimate achieve simulates characteristics drives making intensity task more line pre-morbid limb-use habits also beneficial consistency bilateral movements.

Language: Английский

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Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction

Frontiers in Bioengineering and Biotechnology, Journal Year: 2024, Volume and Issue: 11

Published: Jan. 3, 2024

Introduction: With the aggravation of aging and growing number stroke patients suffering from hemiplegia in China, rehabilitation robots have become an integral part training. However, traditional cannot modify training parameters adaptively to match upper limbs’ status automatically apply them effectively, which will improve efficacy Methods: In this study, a two-degree-of-freedom flexible drive joint robot platform was built. The forgetting factor recursive least squares method (FFRLS) utilized estimate impedance human limb end. A reward function established select optimal stiffness robot. Results: results confirmed effectiveness adaptive control strategy. findings studies showed that had significantly greater than constant control, line with simulation variable control. Moreover, it observed levels assistance could be suitably modified based on subject’s different participation. Discussion: facilitated patients’ by enabling change according functional affected limb. clinic therapy, proposed strategy may help adjust for eventually.

Language: Английский

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Patient’s Healthy Limb Motion Characteristics Based Assist-as-Needed Control Strategy for Upper-Limb Rehabilitation Robot

Published: Jan. 16, 2024

The implementation of a progressive rehabilitation training model to promote patients’ motivation efforts can greatly restore the damaged central nervous system function in patients. active engagement be effectively stimulated by assist-as-needed (AAN) robot training. However, its application robotic therapy has been hindered simple determination method assisted torque which focuses on evaluation only affected limb's movement ability. Moreover, expected effect assistance depends designer, deviates from patient's expectations, and applicability different patients is deficient. In this study, we propose control with personalized treatment features based idea estimating mapping stiffness patient’s healthy limbs. This comprises an interactive module task-oriented space quantitative motion needs inner loop position for pneumatic swing cylinder joint space. An upper limb endpoint estimation constructed parameter identification algorithm designed. characterizes ability complete movements obtained collecting surface electromyographic (sEMG) signals human-robot interaction forces during patient movement. Then motor when completing same are quantified performance limb. A designed dynamically adjust trajectory auxiliary force actual limb, achieving AAN control. Experimental studies were conducted self-developed robot, results showed that proposed estimate achieve simulates characteristics limbs drives making intensity task more line pre-morbid use habits, also beneficial consistency bilateral movements.

Language: Английский

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Asymmetric time‐varying BLF‐based model‐free hybrid force/position control for SEA‐based 2‐DOF manipulator

International Journal of Adaptive Control and Signal Processing, Journal Year: 2023, Volume and Issue: 37(7), P. 1716 - 1737

Published: April 18, 2023

Summary In this work, an asymmetric time‐varying barrier Lyapunov function‐based model‐free hybrid force/position controller (ABLF‐MFC) is proposed for the series elastic actuator‐based 2‐DOF manipulator. Inspired by large surface machining, many scenarios require control, and simple position control can no longer meet above requirements. Therefore, ABLF‐MFC with a dual‐loop structure established, which are force sub‐control loop loop. Based on idea of admittance generates reference trajectory according to desired interaction trajectory. Then, loop, simplify design process, ultra‐local model (ULM) introduced, approximate original system. Since ULM has unknown term, time‐delay estimation (TDE) applied estimate it, also reduce dependence accurate parameters. The designed function, integral‐type function adaptive compensation so tracking error be kept within preset boundary while ensuring convergence, TDE compensated. Rigorous mathematical proofs simulation results verify effectiveness ABLF‐MFC.

Language: Английский

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Adaptive hybrid-mode assist-as-needed control of upper limb exoskeleton for rehabilitation training

Mechatronics, Journal Year: 2024, Volume and Issue: 100, P. 103188 - 103188

Published: April 4, 2024

Language: Английский

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Ultra-local model-based prescribed performance assist-as-needed control for series elastic actuator-based upper limb patient-exoskeleton system under complex state constraints

Nonlinear Dynamics, Journal Year: 2024, Volume and Issue: 112(19), P. 17183 - 17204

Published: July 13, 2024

Language: Английский

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Research on configuration design and intelligent compliance control of reconfigurable modular flexible upper limb rehabilitation robot

International Journal of Advanced Robotic Systems, Journal Year: 2023, Volume and Issue: 20(3), P. 172988062311756 - 172988062311756

Published: May 1, 2023

The upper limb exoskeleton rehabilitation robot can realize the partial functional compensation of and complete various types training for each joint limb. However, existing robots are lack flexible reconfigurability, which difficult to meet diversified patient objects needs, have some problems, such as insufficient motion compliance, poor portability, wearing comfort. To effectively solve above problems improve effect training, this project plans carry out following research: Firstly, analyze structural characteristic movement mechanism limb, clarify configuration theory modular with reconfigurable, design optimize form parameters reconfigurable robot. Secondly, based on perspective rigid–flexible coupling integration bone–muscle–robot, integrated equivalent model is constructed dynamics established plan compliance develop intelligent control strategy. Finally, simulation experimental platform built demonstration training. implementation study will provide new idea method realizing flexible, light, comfortable

Language: Английский

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Training task planning-based adaptive assist-as-needed control for upper limb exoskeleton using neural network state observer

Neural Computing and Applications, Journal Year: 2024, Volume and Issue: 36(26), P. 16037 - 16055

Published: May 20, 2024

Language: Английский

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Closed-Loop Kinematic and Indirect Force Control of a Cable-Driven Knee Exoskeleton: A Lyapunov-Based Switched Systems Approach

IEEE Open Journal of Control Systems, Journal Year: 2023, Volume and Issue: 2, P. 171 - 184

Published: Jan. 1, 2023

Lower-limb exoskeletons can aid restoring mobility in people with movement disorders. Cable-driven offload their actuators away from the human body to reduce weight imposed on user and enable precise control of joints. However, ensuring limb coordination through bidirectional motion joints using cables raise technical challenge preventing occurrence undesired cable slackness or counteracting forces between cables. Thus, motivation exists develop a design framework that integrates both joint loop ensure suitable tracking maintain tension properly. In this paper, two-layer structure consisting high low-level controllers are developed knee-joint exoskeleton system follows desired trajectories adjusts tension, respectively. A repetitive learning controller is designed for high-level knee objective motivated by periodic nature leg swings (i.e., achieve flexion extension). Low-level robust pair cables, each actuated an electric motor, track target motor composed kinematics offset angles mitigate slackness. The computed admittance models exploit measurements tensions as inputs. Each switches its role trajectory acts leader extension) implementing follower slackness). Hence, at any time, one other follower. Lyapunov-based stability analysis global asymptotic guarantee exponential tracking. implemented during swing experiments six able-bodied individuals while wearing cable-driven exoskeleton. comparison results obtained two trials without model exploiting measurements) presented. experimental indicate improved performance, smaller input magnitudes, reduced trial leveraged feedback compared did not feedback.

Language: Английский

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Shifting asymmetric time-varying BLF-based model-free hybrid force/position control for 3-DOF SEA-based manipulator with random initial error

Applied Mathematics and Computation, Journal Year: 2023, Volume and Issue: 463, P. 128363 - 128363

Published: Oct. 3, 2023

Language: Английский

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