Multi-mode adaptive control strategy for a lower limb rehabilitation robot

doi:10.3389/fbioe.2024.1392599

	Multi-mode adaptive control strategy for a lower limb rehabilitation robot
	Liang, Xu1 ; Yan, Yuchen 2; Dai, Shenghua 1; Guo, Zhao 3; Li, Zheng 4; Liu, Shengda5 ; Su, Tingting6
发表期刊	FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
ISSN	2296-4185
	2024-05-16
卷号	12 页码:15
通讯作者	Su, Tingting(sutingting@bjut.edu.cn)
摘要	Different patients have different rehabilitation requirements. It is essential to ensure the safety and comfort of patients at different recovery stages during rehabilitation training. This study proposes a multi-mode adaptive control method to achieve a safe and compliant rehabilitation training strategy. First, patients' motion intention and motor ability are evaluated based on the average human-robot interaction force per task cycle. Second, three kinds of rehabilitation training modes-robot-dominant, patient-dominant, and safety-stop-are established, and the adaptive controller can dexterously switch between the three training modes. In the robot-dominant mode, based on the motion errors, the patient's motor ability, and motion intention, the controller can adaptively adjust its assistance level and impedance parameters to help patients complete rehabilitation tasks and encourage them to actively participate. In the patient-dominant mode, the controller only adjusts the training speed. When the trajectory error is too large, the controller switches to the safety-stop mode to ensure patient safety. The stabilities of the adaptive controller under three training modes are then proven using Lyapunov theory. Finally, the effectiveness of the multi-mode adaptive controller is verified by simulation results.
关键词	impedance control rehabilitation robot multi-mode adaptive control human-robot interaction rehabilitation training strategy
DOI	10.3389/fbioe.2024.1392599
关键词[WOS]	GESTURE RECOGNITION ; TECHNOLOGY
收录类别	SCI
语种	英语
资助项目	National Key R&D Program of China[2023YFE0202100] ; Natural Science Foundation of China[62373013] ; Natural Science Foundation of China[62103007] ; Natural Science Foundation of China[62203442] ; Natural Science Foundation of China[62003005] ; R&D Program of Beijing Municipal Education Commission[KM202110009009] ; R&D Program of Beijing Municipal Education Commission[KM202210009010] ; Natural Science Foundation of Beijing[L202020] ; Natural Science Foundation of Beijing[4204097] ; Talent Fund of Beijing Jiaotong University[KAIXKRC24003532]
项目资助者	National Key R&D Program of China ; Natural Science Foundation of China ; R&D Program of Beijing Municipal Education Commission ; Natural Science Foundation of Beijing ; Talent Fund of Beijing Jiaotong University
WOS研究方向	Biotechnology & Applied Microbiology ; Engineering
WOS类目	Biotechnology & Applied Microbiology ; Engineering, Biomedical
WOS记录号	WOS:001234333400001
出版者	FRONTIERS MEDIA SA
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/58472
专题	多模态人工智能系统全国重点实验室_医疗机器人
通讯作者	Su, Tingting
作者单位	1.Beijing Jiaotong Univ, Sch Automat & Intelligence, Beijing, Peoples R China 2.North China Univ Technol, Dept Mech & Elect Engn, Beijing, Peoples R China 3.Wuhan Univ, Sch Power & Mech Engn, Wuhan, Peoples R China 4.Chinese Univ Hong Kong, Fac Med, Shatin, Hong Kong, Peoples R China 5.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 6.Beijing Univ Technol, Fac Informat Technol, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Liang, Xu,Yan, Yuchen,Dai, Shenghua,et al. Multi-mode adaptive control strategy for a lower limb rehabilitation robot[J]. FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY,2024,12:15.
APA	Liang, Xu.,Yan, Yuchen.,Dai, Shenghua.,Guo, Zhao.,Li, Zheng.,...&Su, Tingting.(2024).Multi-mode adaptive control strategy for a lower limb rehabilitation robot.FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY,12,15.
MLA	Liang, Xu,et al."Multi-mode adaptive control strategy for a lower limb rehabilitation robot".FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY 12(2024):15.