11 Safety Evaluation Method of Rehabilitation Robots

Nokata, Makoto; Ikuta, Koji; Ishii, Hideki

doi:10.1007/10946978_11

Cited by 4 publications

(1 citation statement)

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“…Walking robots for the elderly and patients with lower limb motor dysfunction can be categorized into two types: exoskeleton robots [2] and wheeled assisted walking robots [3]. However, the center of gravity control of most exoskeleton rehabilitation robots is not satisfactory, and the safety of the rehabilitation process cannot meet the requirements [4]. Wheeled walking robot itself has a stable chassis, not only can well avoid the patient in the training process due to the center of gravity is not stable and caused by the fall and other secondary injuries, but also in a narrow space to achieve any direction of movement, to give the patient a good sense of spatial movement and real walking experience, wheeled walking robot with its stable chassis and flexible spatial movement ability, in terms of safety and practicality with the Advantages.…”

Section: Introductionmentioning

confidence: 99%

Reinforcement Learning DDPG Algorithm Based Wheeled Mobility Aid Robot Control Methods

Li,

Mohamed,

Tiang

2024

Proceedings of International Conference on Artificial Life and Robotics

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When using wheeled walker robots to help individuals with limited walking ability improve their mobility, the stability of the robot's motion control and trajectory tracking accuracy are critical. In this paper, a new trajectory tracking method for wheeled walking robots is proposed by combining the Deep Deterministic Policy Gradient (DDPG) algorithm in reinforcement learning with a Proportional Integral Differential (PID) controller. The article first analyzes the kinematic model of the chassis of the wheeled walking robot, and then introduces the design principle and structure of the adaptive PID controller that combines the DDPG algorithm and the PID controller. Finally, the effectiveness of the research scheme and control strategy is verified by joint simulation experiments, and the results show that this DDPG-based PID controller can automatically adjust the parameters when tracking the trajectory to ensure the accuracy of the trajectory, and it has a strong anti-interference capability.

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Section: Introductionmentioning

confidence: 99%