Control architecture for a lower limbs rehabilitation robot system

Koceska, Nataša; Koceski, Saso; Zobel, Pierluigi Beomonte; Durante, Francesco

doi:10.1109/robio.2009.4913131

Cited by 12 publications

(11 citation statements)

References 11 publications

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“…Control strategies of rehabilitation systems can be classified into three categories: force control, position control, position and force control [13]- [15]. Nevertheless, unlike industrial robots, rehabilitation-aided robots must be conFigure ure .d for stable, safe and compliant motion while interacting with humans [16]. The impedance control strategy propounded by Hogan [14,15] is one of the most appropriate approaches for such applications.…”

Section: Control Strategymentioning

confidence: 99%

Intelligent and Hybrid Control Method of a 3-DOF Robot Used for Hip, Knee and Ankle Rehabilitation

aminiazar

Farahi

2020

Preprint

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Background: There is an increasing trend in using robots for medical purposes. One specific area is rehabilitation. Rehabilitation is one of the non-drug treatments in community health which means the restoration of the abilities to maximize independence. It is a prolonged work and costly labor. On the other hand, by using the flexible and efficient robots in rehabilitation area, this process will be more useful for handicapped patients.Methods: In this study, a rule-based intelligent control methodology is proposed to mimic the behavior of a healthy limb in a satisfactory way by a 3-DOF planar robot. Inverse kinematic of the planar robot will be solved by neural networks and control parameters will be optimized by genetic algorithm, as rehabilitation progress.Results: The results of simulations are presented by defining a physiotherapy simple mode on desired trajectory. MATLAB/Simulink is used for simulations. The system is capable of learning the action of the physiotherapist for each patient and imitating this behaviour in the absence of a physiotherapist that can be called robotherapy.Conclusions: In this study, a therapeutic exercise planar 2-DOF robot is designed and controlled for lower-limb rehabilitation. The robot manipulator is controlled by combination of hybrid and adaptive controls. Some safety factors and stability constraints are defined and obtained. The robot is stopped when the safety factors are not satisfied. Kinematics of robot is estimated by an MLP neural network and proper control parameters are achieved using GA optimization

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Section: Control Strategymentioning

confidence: 99%

Intelligent and Hybrid Control Method of a 3-DOF Robot Used for Hip, Knee and Ankle Rehabilitation

aminiazar

Farahi

2020

Preprint

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“…Implementation of artificial intelligence was also considered and embedded in several designs for decision-making purposes -to customize patients' needs at different recovery stage. 97,98 Finally, to date, sample size of the relevant clinical trials remains small, thus resulting in insignificant effect size. Without strong supporting evidence and a wellagreed and established rate of success, it is difficult to convince medical practitioners on the high capital cost of purchasing these robots.…”

Section: Challenges Facing Current Ankle Rehabilitation Robotsmentioning

confidence: 99%

A review on the mechanical design elements of ankle rehabilitation robot

Khalid

Gouwanda

Parasuraman

2015

Proc Inst Mech Eng H

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Ankle rehabilitation robots are developed to enhance ankle strength, flexibility and proprioception after injury and to promote motor learning and ankle plasticity in patients with drop foot. This article reviews the design elements that have been incorporated into the existing robots, for example, backdrivability, safety measures and type of actuation. It also discusses numerous challenges faced by engineers in designing this robot, including robot stability and its dynamic characteristics, universal evaluation criteria to assess end-user comfort, safety and training performance and the scientific basis on the optimal rehabilitation strategies to improve ankle condition. This article can serve as a reference to design robot with better stability and dynamic characteristics and good safety measures against internal and external events. It can also serve as a guideline for the engineers to report their designs and findings.

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“…It should be kept in mind that there is a very broad class of problems that can be treated with this hypothesis. The software makes all the data calculated during the simulation available to document all the kinematic and dynamic parameters of interest (Raparelli et al, 2007;Koceska et al, 2009Koceska et al, , 2013. Furthermore, some cases of a structural type involving mechanical stress or vibrational behavior can also be considered because certain software uses Finite Element Modeling inside multibody environment, although in a linear context.…”

Section: Introductionmentioning

confidence: 99%

Tools and Biomechanical Modeling Use in Legal Disputes: Some Case Studies

Durante

2019

Front. Bioeng. Biotechnol.

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The paper presents some of the biomechanical tools available for the forensic bioengineering expert. The tools range from the simple three-dimensional modeling environment to represent the geometries up to the analytical models based on the free-body diagram and the multibody numerical models of rigid bodies. Through these tools the forensic bioengineering expert is able to solve complex problems by providing quantitative results based on a scientific approach. In this work three case studies, representing real cases that were treated in court, are presented. They relate to accidents which occurred in different contexts. The first relates to an accident in a filament factory where a worker remained with her body stuck in the production line, the second the hit of a pedestrian, and the last concerning a worker who fell from a wall on a construction site. It is shown that the approach to modeling may not always be necessarily complex. It was possible to solve the first case with a simple three-dimensional geometric model that clearly highlighted the development of the facts. In the second case it was possible to set up a simple analytical model based on a free body diagram to search for the relationship between the forces developed on the invested leg, demonstrating the relationship between the accident and the injuries reported. The third case, with the need for more complex modeling, was instead treated with a kinematic and dynamic multibody model which allowed the dynamics of the accident to be traced, starting from the final position in which the victim was found. In each case, the competence of the forensic bioengineering expert was crucial in identifying the correct modeling for the case in question, with the choice of the right data, in order to arrive at reliable quantitative results.

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Control architecture for a lower limbs rehabilitation robot system

Cited by 12 publications

References 11 publications

Intelligent and Hybrid Control Method of a 3-DOF Robot Used for Hip, Knee and Ankle Rehabilitation

Intelligent and Hybrid Control Method of a 3-DOF Robot Used for Hip, Knee and Ankle Rehabilitation

A review on the mechanical design elements of ankle rehabilitation robot

Tools and Biomechanical Modeling Use in Legal Disputes: Some Case Studies

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