A Multiposture Robot for Full Cycle Rehabilitation of Lower Limbs: Design and Autonomous Training

doi:10.1109/TMECH.2024.3362381

	A Multiposture Robot for Full Cycle Rehabilitation of Lower Limbs: Design and Autonomous Training
	Wang, Weiqun1,2 ; Shi, Weiguo1,2 ; Xiang, Kexin1,2 ; Ren, Shixin1,2 ; Lin, Tianyu 1,2; Liu, Shengda1 ; Liang, Xu3 ; Wang, Jiaxing1 ; Hou, Zeng-Guang1,2
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN	1083-4435
	2024-02-23
页码	12
通讯作者	Wang, Weiqun(weiqun.wang@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
摘要	Previous rehabilitation robots were usually designed for certain stages, which causes relatively low rehabilitation efficiency. In this study, a multiposture robot was designed for full cycle rehabilitation training for the patients with lower limb disfunctions. Functions of the typical rehabilitation equipments, including the rehabilitation bicycles, the standing beds for the orthostatic hypotension, and the gait trainers, were realized on the robot. Firstly, in order to implement training in the sitting, lying, and standing postures, a slider-pulley-chute mechanism was designed to obtain zero displacement deviation during the backrest adjustment. Then, the biomimetic gait trajectories were designed based on cooperative control of the leg mechanisms, the center of gravity (CoG), and the body weight supporting system; meanwhile, the key points of CoG trajectories for ascending or descending steps were deliberately designed and the suitable CoG trajectories were regenerated using a fifth-order polynomial, based on which continuously implement of ascending or descending steps on the robot was realized. Moreover, sEMG based motion intention recognition paradigms for variable velocity cycling and multi-mode walking were designed and the associated decoders were developed by combined using the support vector machine and stepwise linear regression algorithms and the minimal redundancy maximal relevance criterion. Finally, the autonomous cycling and multi-mode walking training was successfully realized based on recognizing in real time the subjects' intentions for adjustment of cycling velocities or walking modes. The feasibility of the proposed methods was validated based on simulation and real implement of the sEMG based autonomous cycling and multi-mode walking.
关键词	Autonomous training based on surface electromyography (sEMG) mechanism design and optimization rehabilitation robot training trajectory optimization
DOI	10.1109/TMECH.2024.3362381
关键词[WOS]	STROKE ; INFORMATION ; GAIT ; EMG
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China
项目资助者	National Natural Science Foundation of China
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:001176562400001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/56925
专题	多模态人工智能系统全国重点实验室
通讯作者	Wang, Weiqun; Hou, Zeng-Guang
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Beijing Jiaotong Univ, Sch Automat & Intelligence, Beijing 100044, 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	Wang, Weiqun,Shi, Weiguo,Xiang, Kexin,et al. A Multiposture Robot for Full Cycle Rehabilitation of Lower Limbs: Design and Autonomous Training[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2024:12.
APA	Wang, Weiqun.,Shi, Weiguo.,Xiang, Kexin.,Ren, Shixin.,Lin, Tianyu.,...&Hou, Zeng-Guang.(2024).A Multiposture Robot for Full Cycle Rehabilitation of Lower Limbs: Design and Autonomous Training.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12.
MLA	Wang, Weiqun,et al."A Multiposture Robot for Full Cycle Rehabilitation of Lower Limbs: Design and Autonomous Training".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024):12.