Human-centred adaptive control of lower limb rehabilitation robot based on human–robot interaction dynamic model

Shi, Di; Zhang, Wuxiang; Zhang, Wei; Ju, Linhang; Ding, Xilun

doi:10.1016/j.mechmachtheory.2021.104340

Cited by 57 publications

(25 citation statements)

References 31 publications

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“…All the above studies have in common use of several tools to achieve the safety required by the medical procedure. The safety may be achieved through an effective correlation between the kinematics of the medical robot [18][19][20][21][22][23] and the control system [24][25][26][27][28][29][30][31] used to actuate the robotic structure with respect to human-robot interactions [32][33][34][35].…”

Section: Introductionmentioning

confidence: 99%

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

et al. 2021

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Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (operator, robot, and patient) and overcome in a certain measure all the events that may occur during the robotic rehabilitation procedure. This paper presents the development of an internal torque monitoring system for ASPIRE. This is a parallel robot designed for shoulder rehabilitation, which enables the use of strategies towards developing a HRI (human–robot interaction) system for the therapy. A complete analysis regarding the components of the robotic system is carried out with the purpose of determining the dynamic behavior of the system. Next, the proposed torque monitoring system is developed with respect to the previously obtained data. Several experimental tests are performed using healthy subjects being equipped with a series of biomedical sensors with the purpose of validating the proposed torque monitoring strategy and, at the same time, to satisfy the degree of safety that is requested by the medical procedure.

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Section: Introductionmentioning

confidence: 99%

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

et al. 2021

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“…Compared with the traditional rehabilitation training, the rehabilitation exoskeleton robots can provide more scientific and reasonable rehabilitation training for patients while reducing the workload of the therapists [1,2], which have become one of the most popular research topics [3][4][5]. Many research groups over the world have worked in this area [6][7][8], and the exoskeleton robots for different rehabilitation parts have been presented [9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Motion intensity modeling and trajectory control of upper limb rehabilitation exoskeleton robot based on multi-modal information

Wang

Zhang

Wang

et al. 2022

Complex Intell. Syst.

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The motion intensity of patient is significant for the trajectory control of exoskeleton robot during rehabilitation, as it may have important influence on training effect and human–robot interaction. To design rehabilitation training task according to situation of patients, a novel control method of rehabilitation exoskeleton robot is designed based on motion intensity perception model. The motion signal of robot and the heart rate signal of patient are collected and fused into multi-modal information as the input layer vector of deep learning framework, which is used for the human–robot interaction model of control system. A 6-degree of freedom (DOF) upper limb rehabilitation exoskeleton robot is designed previously to implement the test. The parameters of the model are iteratively optimized by grouping the experimental data, and identification effect of the model is analyzed and compared. The average recognition accuracy of the proposed model can reach up to 99.0% in the training data set and 95.7% in the test data set, respectively. The experimental results show that the proposed motion intensity perception model based on deep neural network (DNN) and the trajectory control method can improve the performance of human–robot interaction, and it is possible to further improve the effect of rehabilitation training.

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“…At later stages, a combined mode of BEMS operation is possible, in which at certain times the patient takes an active position and the exoskeleton implements the movements set by the patient, and at another time the operator switches to a passive mode, and the exoskeleton performs the movements set by the program. Various control strategies are implemented in these modes [13][14][15]. In the first case, we can talk about a tracking control system, and in the second one -about a combination of tracking and copying control strategies.…”

Section: Introductionmentioning

confidence: 99%

Simulation of a Walking Robot-Exoskeleton Movement on a Movable Base

Jatsun

Malchikov

Yatsun

et al. 2021

JAIT

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The paper studies the problem of movement of a two-legged walking machine on a movable base. This task is relevant for design rehabilitation and mechanotherapy complexes for people with impaired functions of the musculoskeletal system. Presents a mathematical model that allows obtaining the kinematic and dynamic parameters of the movement of the executive units of the device under study. The paper presents a method for planning the trajectory of exoskeleton links, its algorithmic and software implementation. The paper proposes the structure of the automatic link position control system, which ensures the movement of the executive links along a given trajectory. A mathematical apparatus is proposed for studying the dynamics of the controlled movement of the links of the human-machine system of the exoskeleton. The article presents the results of numerical experiments on the movement of the low-limb exoskeleton leg in the one step mode and analyzes them.

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Human-centred adaptive control of lower limb rehabilitation robot based on human–robot interaction dynamic model

Cited by 57 publications

References 31 publications

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

Motion intensity modeling and trajectory control of upper limb rehabilitation exoskeleton robot based on multi-modal information

Simulation of a Walking Robot-Exoskeleton Movement on a Movable Base

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