Adaptive control with state-dependent modeling of patient impairment for robotic movement therapy

Bower, Curtis E.; Taheri, Hossein; Wolbrecht, Eric T.

doi:10.1109/icorr.2013.6650460

Cited by 19 publications

(9 citation statements)

References 19 publications

(29 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Several Assist As Needed control techniques have been formulated for lower and upper limb rehabilitation treatments for various types of patients [11][12][13][14][15][16][17][18][19][20][21][22][23][24][25]. Gui et al introduced the progressive Assist As Needed (pAAN) controller for a lower limb exoskeleton system.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

Azlan

Lukman²

2021

IIUMEJ

View full text Add to dashboard Cite

The slacking behaviour or lack of participation from impaired patients during robotic rehabilitation therapy is one of the factors that slow down their recovery. The implementation of Assist As Needed (AAN) control law in the robotic assisted rehabilitation treatment may alleviate this problem and encourage the patients to be actively involved in the rehabilitation exercises. This paper presents a new Assist As Needed control strategy for an upper limb rehabilitation robot in assisting subjects with various levels of capabilities to regain their original upper limb’s functionality in realizing basic motions in eating activity. The controller consists of Proportional, Integral, Derivative (PID) controller in the feedback loop, with an adjustable gain K that varies according to the user’s level of capability. A Force Sensing Resistor (FSR) is used to identify the user’s upper extremity capability level. The controller regulates the necessary amount of assistance provided by the robot based on the information obtained from the sensor. The automatic adjustment of the robot’s assistance to the subjects leads them to put in their own effort in accomplishing the desired movements. The proposed control strategy is simple, easy to program, and mathematically less complicated. A prototype of the wearable upper limb rehabilitation robot has been built and a Graphical User Interface (GUI) has been developed using MATLAB software to facilitate the rehabilitation process and for progress monitoring. The simulation and experimental results have proven that the proposed control strategy is successful in regulating the necessary amount of robot assistance according to the patients’ level of capability. The proposed controller has effectively driven the upper limb rehabilitation robot to achieve the desired trajectory with zero steady state error, percentage overshoot less than 8% and settling time below 6 seconds, whilst providing the correct amount of robotic assistance in accordance to the subjects’ capability level. ABSTRAK: Reaksi kurang respon dari pesakit kurang keupayaan semasa terapi pemulihan robotik adalah satu faktor melambatkan kadar pemulihan. Pelaksanaan teknik kawalan Bantu Apabila Diperlukan (AAN) dalam rawatan pemulihan dengan bantuan robot dapat membantu dan mendorong pesakit terlibat secara aktif dalam latihan pemulihan. Artikel ini membentangkan strategi kawalan baru, iaitu Bantu Apabila Diperlukan oleh robot pemulihan bagi anggota atas pesakit yang mempunyai pelbagai tahap kemampuan, dalam mengembalikan fungsi asas gerakan tangan seperti aktiviti makan. Teknik kawalan terdiri daripada kawalan Berkadar, Integral, Terbitan (PID) dalam lingkaran tindak balas, dengan pemboleh ubah K mengikut tahap kemampuan pesakit. Alat pengukur Resistan Daya Rasa (FSR) digunakan bagi mengenal pasti tahap kemampuan maksima pesakit dalam menggerakkan tangan. Berdasarkan maklumat yang diperoleh daripada sensor, teknik kawalan akan menghantar maklumat kepada robot bagi membantu pesakit. Bantuan automatik yang dibekalkan robot kepada pesakit akan mendorong pesakit berusaha melakukan gerakan yang diperlukan. Strategi kawalan yang dicadangkan ini adalah ringkas, mudah diprogramkan dan kurang rumit dari segi matematik. Sebuah prototaip robot pemulihan anggota tangan telah dibina dan sebuah platform grafik bagi pengguna (Antara Muka Grafik Pengguna, GUI) telah dibangunkan menggunakan perisian MATLAB bagi memudahkan proses pemulihan dan pemantauan kemajuan pesakit. Hasil simulasi dan eksperimen membuktikan bahawa strategi cadangan kawalan ini berjaya mengatur jumlah bantuan daripada robot bersesuaian dengan tahap kemampuan pesakit. Teknik kawalan yang dicadangkan telah berjaya menggerakkan robot pemulihan tangan bagi mencapai lintasan gerakan yang diinginkan dengan ralat sifar pada keadaan stabil, peratusan ayunan berlebihan kurang daripada 8%, masa penyelesaian bawah 6 saat dan pada masa sama, memberikan maklumat bantuan robot yang tepat, bersesuaian dengan tahap kemampuan pesakit.

show abstract

Section: Introductionmentioning

confidence: 99%

“…The Assist as Needed control scheme for upper limb rehabilitation [13][14][15][16][17][18][19][20][21][22][23][24][25] was included in the works by Pérez-Rodríguez et al [13]. It was composed of three subsystems: (1) biomechanical prediction, (2) assistance decision, and (3) command generation.…”

Section: Introductionmentioning

confidence: 99%

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

Azlan

Lukman²

2021

IIUMEJ

View full text Add to dashboard Cite

show abstract

“…Other model-based adaptive control techniques emphasize learning controller or model parameters to adapt the robotic assistance. An example is the strategy proposed by Bower, C. H., et [27] that learns a statedependent model of participant utilizing an unstructured inertial model that depends on the position and direction of the desired motion in the robot's platform. The approach learns a patient impairment model that accounts for movement specific disability in neuromuscular output and combined with assist-as-needed force decay to promote more engagement and participation from the patients.…”

Section: Introductionmentioning

confidence: 99%

“…Some of the merits of model-based approach is that they could minimize cost of equipment and enhance compliance but their heavy reliance on the accuracy of the robot model constitute a potential limitation in terms of remodeling for different robotic systems, and inaccurate estimation of subjects' abilities due to model excitation errors. This would lead to inconsistencies in estimation for a wide subject population [27].…”

Section: Introductionmentioning

confidence: 99%

Assist-as-Needed Robotic Rehabilitation Strategy Based on z-Spline Estimated Functional Ability

2020

View full text Add to dashboard Cite

Assist-as-needed (AAN) robotic-rehabilitation therapy is an active area of research which aims to promote neuroplasticity and motor coordination through active participation in functional task. A key component of this strategy is to provide robotic assistance to patients only when needed. To achieve this, accurate estimation of patients' movement/functional ability (FA) is required to evaluate patients' need for robotic assistance and to provide the required amount of assistance, which is still a significant challenge to AAN robotic-rehabilitation therapy. This study proposes an AAN technique based on a new Functional Activity Spline Function (FASF) to estimate patients' FA and to adapt robotic assistance. The FASF is formulated using z-spline curve to estimate patients' movement ability based on the quality-of-movement and the time score of the patient in each functional task. A Linear Quadratic Gaussian Integral (LQGi) torque controller is applied with a FASF-to-torque mapping algorithm to physically provide low-level torque assistance on the elbow/shoulder joints. Fifteen patients were involved in the experimental study which consists of two tasks: (Task1) a pick-and-place task and (Task2) a table-to-mouth reaching task. The results showed that the proposed ANN control strategy has successfully estimated the patients' FA consistently with high repeatability, and able to provide the robotic assistance according to the patients' needs in the task. For different levels of impairment, the average percent-torque assistance across trials relative to the highest possible assistive torque are within the range of 5.43%-24.85% (for the mildly impaired) and 75.14%-97.14% (for the severely impaired) patents in both reaching task consistent with their FA estimation.

show abstract

“…[1][2][3][4][5][6][7][8][9]. Currently all these electromechanical apparatus which are used for recovery of upper limb function have feedback block which receives the signals from proprio-, vision-, audio-and touch-receptors for quality control of the movement during the process of training and creates favorable condition for motor response and reorganization [9,10].…”

mentioning

confidence: 99%

The Recovery of Complicated Upper Limbs Movement Functions of Poststroke Patients

Bondarenko¹,

Макарова²,

Турова³

2017

JPP

View full text Add to dashboard Cite

Abstract:In chronic stage of stroke, it is necessary to pay attention to the complex spatial movements training along with the traditional restoration of balance, strength of particular muscles, and paretic limb joints mobility. The aim of the study was to evaluate the effectiveness of robotic therapy in the recovery of upper limb function in the chronic stage of stroke. The study involved 52 patients with ischemic stroke in the middle cerebral artery. The patients were divided randomly into 2 groups. All patients (5 days/wk × 3 wk) got gymnastics by the standard technique, massage, laser, and pulsed currents therapy. Main group patients (n = 36) extra received complex spatial movements, speed, fluidity, precision and agility training by the robotic electromechanical device Multi Joint System (MJS) (40 minutes, 5 days/wk × 3 wk). Analysis of the results of the study showed a statistically significant difference in improving ROM of the elbow and shoulder joints, speed and accuracy of movement in the main group compared with the control. Hardware recovery of complex spatial upper limb movements in the chronic stage of stroke increases the functionality and independence of the patient's domestic skills.

show abstract

Adaptive control with state-dependent modeling of patient impairment for robotic movement therapy

Cited by 19 publications

References 19 publications

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

Assist-as-Needed Robotic Rehabilitation Strategy Based on z-Spline Estimated Functional Ability

The Recovery of Complicated Upper Limbs Movement Functions of Poststroke Patients

Contact Info

Product

Resources

About