Isokinetic Muscle Strength Training Strategy of an Ankle Rehabilitation Robot Based on Adaptive Gain and Cascade PID Control

Li, Jianfeng; Zhou, Yu; Dong, Mingjie; Rong, Xi

doi:10.1109/tcds.2022.3145998

Cited by 13 publications

(3 citation statements)

References 40 publications

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“…By fixing a six-dimensional force/torque sensor between the robot pedals and the end-effector, an adaptive hybrid torque-position control scheme using event triggering was proposed to correct the robot assisted output online based on the correction index calculated from the interaction torque and tracking error. Li et al [18][19][20] used human-robot interaction moments generated by detecting six-axis circular force sensors between the patient and the ankle rehabilitation robot through Kalman filtering to remove noise for motion intent recognition. Isokinetic control of active rehabilitation motion is achieved using a cascaded PId controller, which provides good performance in terms of control smoothness, speed tracking accuracy and real-time performance.…”

Section: Ankle Active Rehabilitation Based On Intent Recognitionmentioning

confidence: 99%

Ankle active rehabilitation based on Intent recognition

Tian

Dong

et al. 2023

Preprint

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Aiming at the problem that most of the current ankle rehabilitation robots lack active patient participation, this paper proposes an intention-aware ankle active rehabilitation method. A plantar pressure sensor on the 2-SPU/RR ankle robot collects pressure data and uses an support vector machine(SVM) classifier to process the data to sense the patient's movement intention, using principal component analysis to reduce the dimensionality in order to improve the speed of classification recognition. In the first step, the rehabilitation trajectory is predefined with reference to the physician's treatment advice. In the second step, active following movement guided by movement intention is achieved based on plantar pressure, and the patient's active trajectory data is recorded. In the third step, a rehabilitation evaluation model is established through the trajectory deviation data and other indicators to objectively assess the participants' ankle rehabilitation status and provide theoretical reference for the physicians' diagnosis. The experimental results showed that the proposed ankle active rehabilitation strategy was effective, and the rehabilitation evaluation model quantitatively analysed the participants' ankle functional status based on the recorded indexes, which provided a reference for the formulation of the next step of rehabilitation training.

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Section: Ankle Active Rehabilitation Based On Intent Recognitionmentioning

confidence: 99%

Ankle active rehabilitation based on Intent recognition

Tian

Dong

et al. 2023

Preprint

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“…Longitudinal motion control mainly refers to the precise control of the robot's running speed or expected distance through the coordination of drivers and brakes [10]. In longitudinal motion control, PID control is the most widely used method, which does not require a specific system model and relies only on input deviations for control [11]. J. Han et al proposed a fuzzy-gain PID controller based on the dynamic characteristics of hybrid robots based on traditional PID controllers, which enabled robots to achieve better control performance in any operating state [12].…”

Section: Introductionmentioning

confidence: 99%

Research and Implementation of Intelligent Control System for Grassland Grazing Robotic Vehicle

Zhang

Mei

et al. 2023

Electronics

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In response to the complex animal husbandry environment, wide livestock range, and labor shortage in Inner Mongolia grasslands, this study designed an intelligent control system for robotic vehicles used in natural grazing grassland environments. The control system consists of software and hardware components and motion control algorithms. Based on the application characteristics of different mechanisms of the robotic vehicle, the motion control of the robotic vehicle is decomposed into longitudinal speed control and lateral steering control. The longitudinal speed control adopts the traditional Proportional-Integral-Differential (PID) control method. Since the hardware composition and internal angle calculation method of the steering system are complex and prone to deviations caused by external terrain, a lateral adaptive fuzzy PID controller was constructed with lateral deviation and deviation change rate as input variables and parameters Kp, Ki, and Kd as outputs. The field test results show that when the longitudinal speed was set to 0.5 m/s, the adjustment time was 1.95 s, and the steady-state error was about 0. When the longitudinal speed was the same, the lateral adaptive fuzzy PID controller reduced the rise time by 0.77 s compared to traditional control methods, reduced overshoot and steady-state error by 2%, and quickly recovered to a steady state after being disturbed. The following test results show that the designed intelligent control system can achieve real-time tracking of targets and that the motion controllers can effectively control speed and steering angle. Therefore, the intelligent control system designed in this paper can effectively achieve stable and real-time control of the robotic vehicle.

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“…Rehabilitation training is different from the muscle strength training represented by isokinetic training [21]. Hence, for the ankle rehabilitation robot, one important thing is that the robot can drive the damaged AJC to perform high-precision passive rehabilitation training, performing a certain degree of rehabilitation training on the AJC's ROM and muscle strength [22].…”

Section: Introductionmentioning

confidence: 99%

Clinically oriented ankle rehabilitation robot with a novel mechanism

Zhou

Dong

et al. 2022

Robotica

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In order to make the designed ankle robotic system simpler, practical, and clinically oriented, we developed a novel $\underline{R}-2\underline{U}PS/RR$ ankle rehabilitation robot with a variety of training functions covering all the required ranges of motion of the ankle joint complex (AJC), where $U$ , $P$ , $S$ , and $R$ denote universal, prismatic, spherical, and revolute joints, respectively, and the underlined letter denotes the actuated joint. The robot was designed with three degrees of freedom (DOFs), with a series $R$ mechanism and a $2\underline{U}PS/RR$ parallel mechanism. The main advantage is that the height of the robot is very low, which is convenient for clinical use by patients. At first, the mechanism design and inverse solution of positions were introduced in detail. Then, the patient-passive exercise based on the predefined trajectory tracking and patient-active exercise based on the spring model were developed to satisfy different rehabilitation stages. Finally, experiments with healthy subjects were conducted to verify the effectiveness of the developed patient-passive and patient-active exercises of the developed ankle rehabilitation robot, with results compared with the existing ankle robotic system showing good trajectory tracking performance and interactive performance.

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Isokinetic Muscle Strength Training Strategy of an Ankle Rehabilitation Robot Based on Adaptive Gain and Cascade PID Control

Cited by 13 publications

References 40 publications

Ankle active rehabilitation based on Intent recognition

Ankle active rehabilitation based on Intent recognition

Research and Implementation of Intelligent Control System for Grassland Grazing Robotic Vehicle

Clinically oriented ankle rehabilitation robot with a novel mechanism

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