A Greedy Assist-as-Needed Controller for Upper Limb Rehabilitation

doi:10.1109/TNNLS.2019.2892157

	A Greedy Assist-as-Needed Controller for Upper Limb Rehabilitation
	Luo, Lincong1,2 ; Peng, Liang1 ; Wang, Chen1,2,3 ; Hou, Zeng-Guang1,2
发表期刊	IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
ISSN	2162-237X
	2019-11-01
卷号	30 期号:11 页码:3433-3443
通讯作者	Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
摘要	Previous studies on robotic rehabilitation have shown that subjects' active participation and effort involved in rehabilitation training can promote the performance of therapies. In order to improve the voluntary effort of participants during the rehabilitation training, assist-as-needed (AAN) control strategies regulating the robotic assistance according to subjects' performance and conditions have been developed. Unfortunately, the heterogeneity of patients' motor function capability in task space is not taken into account during the implementation of these controllers. In this paper, a new scheme called greedy AAN (GAAN) controller is designed for the upper limb rehabilitation training of neurologically impaired subjects. The proposed GAAN control paradigm includes a baseline controller and a Gaussian RBF network that is utilized to model the functional capability of subjects and to provide corresponding a task challenge for them. In order to avoid subjects' slacking and encourage their active engagement, the weight vectors of RBF networks evaluating subjects' impairment level are updated based on a greedy strategy that makes the networks progressively learn the maximum forces over time provided by subjects. Simultaneously, a challenge level modification algorithm is employed to adjust the task challenge according to the task performance of subjects. Experiments on 12 subjects with neurological impairment are conducted to validate the performance and feasibility of the GAAN controller. The results show that the proposed GAAN controller has significant potential to promote the subjects' voluntary engagement during training exercises.
关键词	Medical treatment Training Task analysis Robot sensing systems Impedance Trajectory Assist as needed (AAN) challenge level Gaussian radial basis function (RBF) network motor capability rehabilitation robot upper limb
DOI	10.1109/TNNLS.2019.2892157
关键词[WOS]	ROBOTIC ASSISTANCE ; IMPEDANCE CONTROL ; STROKE ; MODEL
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[61533016] ; National Natural Science Foundation of China[61603386] ; National Natural Science Foundation of China[U1613228] ; Beijing Natural Science Foundation[3171001] ; Beijing Natural Science Foundation[L172050] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32040000] ; National Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[61533016] ; National Natural Science Foundation of China[61603386] ; National Natural Science Foundation of China[U1613228] ; Beijing Natural Science Foundation[3171001] ; Beijing Natural Science Foundation[L172050] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32040000]
项目资助者	National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Strategic Priority Research Program of Chinese Academy of Science
WOS研究方向	Computer Science ; Engineering
WOS类目	Computer Science, Artificial Intelligence ; Computer Science, Hardware & Architecture ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic
WOS记录号	WOS:000494702100018
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	智能控制
引用统计	被引频次：40[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/28919
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Hou, Zeng-Guang
作者单位	1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Luo, Lincong,Peng, Liang,Wang, Chen,et al. A Greedy Assist-as-Needed Controller for Upper Limb Rehabilitation[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,2019,30(11):3433-3443.
APA	Luo, Lincong,Peng, Liang,Wang, Chen,&Hou, Zeng-Guang.(2019).A Greedy Assist-as-Needed Controller for Upper Limb Rehabilitation.IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,30(11),3433-3443.
MLA	Luo, Lincong,et al."A Greedy Assist-as-Needed Controller for Upper Limb Rehabilitation".IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 30.11(2019):3433-3443.