EEG-modulated robotic rehabilitation system for upper extremity

Xu, Baoguo; Song, Aiguo; Zhao, Guopu; Liu, Jia; Xu, Guoqing; Pan, Lizheng; Yang, Renhuan; Li, Huijun; Cui, Jianwei

doi:10.1080/13102818.2018.1437569

Cited by 6 publications

(3 citation statements)

References 19 publications

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“…The feasibility of inducing neurological recovery in paraplegic patients by long term training with a BCI-based gait protocol was shown in [5]. In addition, BCI-based control of virtual object [6], robotic arm [7][8][9], robotic prosthetic [10,11], wheelchair [12], and various rehabilitation devices [13][14][15][16] were also reported in previous research.…”

Section: Introductionmentioning

confidence: 82%

Motor Imagery Based Continuous Teleoperation Robot Control with Tactile Feedback

Bao-guo

et al. 2020

Electronics

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Brain computer interface (BCI) adopts human brain signals to control external devices directly without using normal neural pathway. Recent study has explored many applications, such as controlling a teleoperation robot by electroencephalography (EEG) signals. However, utilizing the motor imagery EEG-based BCI to perform teleoperation for reach and grasp task still has many difficulties, especially in continuous multidimensional control of robot and tactile feedback. In this research, a motor imagery EEG-based continuous teleoperation robot control system with tactile feedback was proposed. Firstly, mental imagination of different hand movements was translated into continuous command to control the remote robotic arm to reach the hover area of the target through a wireless local area network (LAN). Then, the robotic arm automatically completed the task of grasping the target. Meanwhile, the tactile information of remote robotic gripper was detected and converted to the feedback command. Finally, the vibrotactile stimulus was supplied to users to improve their telepresence. Experimental results demonstrate the feasibility of using the motor imagery EEG acquired by wireless portable equipment to realize the continuous teleoperation robot control system to finish the reach and grasp task. The average two-dimensional continuous control success rates for online Task 1 and Task 2 of the six subjects were 78.0% ± 6.1% and 66.2% ± 6.0%, respectively. Furthermore, compared with the traditional EEG triggered robot control using the predefined trajectory, the continuous fully two-dimensional control can not only improve the teleoperation robot system’s efficiency but also give the subject a more natural control which is critical to human–machine interaction (HMI). In addition, vibrotactile stimulus can improve the operator’s telepresence and task performance.

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Section: Introductionmentioning

confidence: 82%

Motor Imagery Based Continuous Teleoperation Robot Control with Tactile Feedback

Bao-guo

et al. 2020

Electronics

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“…A robot is commonly interfaced with EEG signals for human intention estimation. BCIs are often used to control the robot to achieve the desired motion by selecting prior constructed motion patterns such as reaching targets [81,82], and upper limb motions [83][84][85][86]. Low-frequency portion in EEG signals contains the important feature of the motion.…”

Section: Eegmentioning

confidence: 99%

Wearable upper limb robotics for pervasive health: a review

2023

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Wearable robotics, also called exoskeletons, have been engineered for human-centered assistance for decades. They provide assistive technologies for maintaining and improving patients’ natural capabilities towards self-independence and also enable new therapy solutions for rehabilitation towards pervasive health. Upper limb exoskeletons can significantly enhance human manipulation with environments, which is crucial to patients’ independence, self-esteem, and quality of life. For long-term use in both in-hospital and at-home settings, there are still needs for new technologies with high comfort, biocompatibility, and operability. The recent progress in soft robotics has initiated soft exoskeletons (also called exosuits), which are based on controllable and compliant materials and structures. Remarkable literature reviews have been performed for rigid exoskeletons ranging from robot design to different practical applications. Due to the emerging state, few have been focused on soft upper limb exoskeletons. This paper aims to provide a systematic review of the recent progress in wearable upper limb robotics including both rigid and soft exoskeletons with a focus on their designs and applications in various pervasive healthcare settings. The technical needs for wearable robots are carefully reviewed and the assistance and rehabilitation that can be enhanced by wearable robotics are particularly discussed. The knowledge from rigid wearable robots may provide practical experience and inspire new ideas for soft exoskeleton designs. We also discuss the challenges and opportunities of wearable assistive robotics for pervasive health.

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“…Compared with the piecewise constant curvature (PCC) based controller, the proposed controller provides a solution to the problem of failing to converge. A closed-loop fuzzy PID controller was proposed for position control of a CDCR in Xu et al (2018). However, the fuzzy rules are subjective and difficult to obtain in practice due to the complex structure of CDCRs.…”

Section: Introductionmentioning

confidence: 99%

QPSO-MPC based tracking algorithm for cable-driven continuum robots

Chen

Qin²,

Li³

2022

Front. Neurorobot.

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Cable-driven continuum robots (CDCRs) can flexibly travel through narrow space for complex workspace tasks. However, it is challenging to design the trajectory tracking algorithm for CDCRs due to their nonlinear dynamic behaviors and cable hysteresis characteristics. In this contribution, a model predictive control (MPC) tracking algorithm based on quantum particle swarm optimization (QPSO) is designed for CDCRs to realize effective trajectory tracking under constraints. In order to make kinematic analysis of a CDCR, the forward and inverse mapping among actuation space, joint space and work space is analyzed by using the piecewise constant curvature method and the homogeneous coordinate transformation. To improve the performance of conventional MPC for complex tracking tasks, QPSO is adopted in the rolling optimization of MPC for its global optimization performance, robustness and fast convergence. Both simulation and operational experiment results demonstrate that the designed QPSO-MPC presents high control stability and trajectory tracking precision. Compared with MPC and particle swarm optimization (PSO) based MPC, the tracking error of QPSO-MPC is reduced by at least 43 and 24%, respectively.

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EEG-modulated robotic rehabilitation system for upper extremity

Cited by 6 publications

References 19 publications

Motor Imagery Based Continuous Teleoperation Robot Control with Tactile Feedback

Motor Imagery Based Continuous Teleoperation Robot Control with Tactile Feedback

Wearable upper limb robotics for pervasive health: a review

QPSO-MPC based tracking algorithm for cable-driven continuum robots

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