Work in the Time of Covid-19: Actuators and Sensors for Rehabilitation Robotics

Chaichaowarat, Ronnapee; Nishimura, Shigeo; Nozaki, Tsutomu; Krebs, Hermano Igo

doi:10.1541/ieejjia.21006581

Cited by 16 publications

(3 citation statements)

References 56 publications

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“…However, with developments in neuroengineering research, rehabilitation robots can be used to replace human physiotherapists, as shown in Figure 1b. Safe close-proximity human [1,2] and exoskeleton [3,4] interactions with robots can be achieved through two complementary strategies: (1) using smart actuators [5] with adjustable intrinsic properties, e.g., stiffness [6] and damping [7], and (2) by impedance control [8,9]. Impedance control provides safe and stable robotenvironment interaction.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Abdullahi,

Haruna,

Chaichaowarat

2024

JSAN

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Physiotherapy is the treatment to recover a patient’s mobility and limb function after an injury, illness, or disability. Rehabilitation robots can be used to replace human physiotherapists. To ensure safety during robot physical therapy, the patient’s limb needs to be controlled to track a desired joint trajectory, and the torque due to interaction force/torque needs to be measured and regulated. Therefore, hybrid impedance and admittance with position control (HIPC) is required to track the trajectory and simultaneously regulate the contact torque. The literature describes two structures of HIPC: (1) a switched framework between admittance and impedance control operating in parallel (HIPCSW); and (2) a series connection between admittance and impedance control without switching. In this study, a hybrid adaptive impedance and position-based admittance control (HAIPC) in series is developed, which consists of a proportional derivative-based admittance position controller with gravitational torque compensation and an adaptive impedance controller. An extended state observer is used to estimate the interaction joint torque due to human stiff contact with the exoskeleton without the use of force/torque sensor, which is then used in the adaptive algorithm to update the stiffness and damping gains of the adaptive impedance controller. Simulation results obtained using MATLAB show that the proposed HAIPC significantly reduces the mean absolute values of the actuation torques (control inputs) required for the shoulder and elbow joints in comparison with HIPC and HIPCSW.

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Section: Introductionmentioning

confidence: 99%

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Abdullahi,

Haruna,

Chaichaowarat

2024

JSAN

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“…They highlighted unexplored paths and future directions in gait rehabilitation. In 2021, Chaichaowarat et al [16] presented actuators and sensors for rehabilitation robotics, Zhou et al [17] achieved a review on lower limb rehabilitation exoskeleton robots, and Rodríguez-Fernández et al [18] presented a systematic review on wearable lower limb exoskeletons for gait training in neuromuscular impairments.…”

Section: Introductionmentioning

confidence: 99%

Patent Review of Lower Limb Rehabilitation Robotic Systems by Sensors and Actuation Systems Used

Pană

Popescu

Rădulescu

2023

Sensors

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Robotic systems for lower limb rehabilitation are essential for improving patients’ physical conditions in lower limb rehabilitation and assisting patients with various locomotor dysfunctions. These robotic systems mainly integrate sensors, actuation, and control systems and combine features from bionics, robotics, control, medicine, and other interdisciplinary fields. Several lower limb robotic systems have been proposed in the patent literature; some are commercially available. This review is an in-depth study of the patents related to robotic rehabilitation systems for lower limbs from the point of view of the sensors and actuation systems used. The patents awarded and published between 2013 and 2023 were investigated, and the temporal distribution of these patents is presented. Our results were obtained by examining the analyzed information from the three public patent databases. The patents were selected so that there were no duplicates after several filters were used in this review. For each patent database, the patents were analyzed according to the category of sensors and the number of sensors used. Additionally, for the main categories of sensors, an analysis was conducted depending on the type of sensors used. Afterwards, the actuation solutions for robotic rehabilitation systems for upper limbs described in the patents were analyzed, highlighting the main trends in their use. The results are presented with a schematic approach so that any user can easily find patents that use a specific type of sensor or a particular type of actuation system, and the sensors or actuation systems recommended to be used in some instances are highlighted.

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“…In general, the disturbance observer is used to estimate unknown external or uncertain torque disturbance without additional sensors [25]. Other methods have also been implemented for rehabilitation of patients using exoskeletons for walking rehabilitation [26][27][28][29]. These works introduced techniques to modulate intrinsic properties of high-force linear actuators for active body-weight support systems for gait rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

Sensorless Estimation of Human Joint Torque for Robust Tracking Control of Lower-Limb Exoskeleton Assistive Gait Rehabilitation

Abdullahi

Chaichaowarat

2023

JSAN

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Patients suffering from motor disorders or weakness resulting from either serious spinal cord injury or stroke often require rehabilitation therapy to regain their mobility. In the lower limbs, exoskeletons have two motors aligned with the patients’ hip and knee to assist in rehabilitation exercises by supporting the patient’s body structure to increase the torques at the hip and knee joints. Assistive rehabilitation is, however, challenging, as the human torque is unknown and varies from patient to patient. This poses difficulties in determining the level of assistance required for a particular patient. In this paper, therefore, a modified extended state observer (ESO)-based integral sliding mode (ISM) controller (MESOISMC) for lower-limb exoskeleton assistive gait rehabilitation is proposed. The ESO is used to estimate the unknown human torque without application of a torque sensor while the ISMC is used to achieve robust tracking of preset hip and knee joint angles by considering the estimated human torque as a disturbance. The performance of the proposed MESOISMC was assessed using the mean absolute error (MAE). The obtained results show an 85.02% and 87.38% reduction in the MAE for the hip and joint angles, respectively, when the proposed MESOISMC is compared with ISMC with both controllers tuned via LMI optimization. The results also indicate that the proposed MESOISMC method is effective and efficient for user comfort and safety during gait rehabilitation training.

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Work in the Time of Covid-19: Actuators and Sensors for Rehabilitation Robotics

Cited by 16 publications

References 56 publications

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Patent Review of Lower Limb Rehabilitation Robotic Systems by Sensors and Actuation Systems Used

Sensorless Estimation of Human Joint Torque for Robust Tracking Control of Lower-Limb Exoskeleton Assistive Gait Rehabilitation

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