Configuration-Dependent Optimal Impedance Control of an Upper Extremity Stroke Rehabilitation Manipulandum

Abstract

This work was funded by the Natural Sciences and Engineering Research Council of Canada (NSERC) and the Canada Research Chairs (CRC) program. The authors wish to thank Quanser Consulting Inc. for providing the upper extremity rehabilitation robot, and TRI for collaborating.

Computational modeling and simulation of closed chain arm-robot multibody dynamic systems in OpenSim

“…Only a few previous studies have coupled a robot model with some form of upper extremity musculoskeletal model to facilitate the design of assistive robotic devices and/or rehabilitation interventions [19,20,30]. Given the current paucity of such studies, it is worth asking whether development of combined arm-robot models provides any advantages over use of just an arm model with added mass properties to account for the presence of the Fig.…”

“…Personalized neuromusculoskeletal models have recently matured to the point where they can represent patient-specific neural control characteristics post-stroke and predict a patient's function under new conditions [15,16]. Furthermore, generic neuromusculoskeletal models have already proven to be effective tools to support the design of exoskeleton robots [17][18][19] and end-effector robot control systems [20]. However, coupling a personalized neuromusculoskeletal model with a rehabilitation robot model creates closed kinematic chains that are challenging to model and simulate [19][20][21] with the commonly-used musculoskeletal modeling software OpenSim [22,23].…”

“…Furthermore, generic neuromusculoskeletal models have already proven to be effective tools to support the design of exoskeleton robots [17][18][19] and end-effector robot control systems [20]. However, coupling a personalized neuromusculoskeletal model with a rehabilitation robot model creates closed kinematic chains that are challenging to model and simulate [19][20][21] with the commonly-used musculoskeletal modeling software OpenSim [22,23]. Although three previous studies have coupled some form of upper extremity musculoskeletal model with some form of robot model [18,19,27], none of these studies provided general guidelines for modeling and simulating the resulting closed kinematic chains within the OpenSim environment, and none performed extensive computational verification and experimental validation of their coupled arm-robot models.…”

On the Relationship Between Muscle Synergies and Redundant Degrees of Freedom in Musculoskeletal Systems

“…As a practical conclusion, the control of motion in the task and redundant spaces can be separated in a computational model by employing orthogonal basis vectors, and the results are not far from reality. Therefore, we can build mathematical motor control models more confidently using this orthogonality assumption, which are especially useful for the real-time model-based control of bio-mechatronic systems (Mehrabi and McPhee, 2019), rehabilitation robots (Ghannadi et al, 2018), exoskeletons (Kuhn et al, 2018), and functional electrical systems (Sharif Razavian et al, 2017, 2018).…”

Event-Triggered Adaptive Hybrid Torque-Position Control (ET-AHTPC) for Robot-Assisted Ankle Rehabilitation

“…Baser et al also proposed a force feedback impedance control approach a biomimetic compliant exoskeleton robot [6]. To further improve the stability and safety, Ballesteros et al [7] and Ghannadi et al [8] both proposed hybrid impedance-position control schemes, to achieve the best trade-off between tracking error and interaction force. But the methods did not consider the changes of required robotic assistance throughout rehabilitation.…”