Human–Robot Interaction Control of Rehabilitation Robots With Series Elastic Actuators

Huang, Yu; Huang, Sunan; Chen, Gong; Pan, Yongping; Guo, Zhao

doi:10.1109/tro.2015.2457314

Cited by 300 publications

(129 citation statements)

References 35 publications

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“…Lower Extremity Powered Exoskeleton (LOPES) and KneeAnkle-Foot Robot (KAFR) [35] are other compliant robotic gait training orthoses. The concept of series elastic actuation (SEA) has been used in the design of LOPES [36] and KAFR.…”

Section: Assist-as-needed Control Of An Intrinsically Compliant Robotmentioning

confidence: 99%

“…However, the hip joint is not considered in the design of KAFR. The designers of LOPES and KAFR have also considered the concept of AAN gait training [35,36]. LOPES has its patient-in-charge mode during which the actuator stiffness is kept low and robot-in-charge mode during which the actuator stiffness is set high.…”

Section: Assist-as-needed Control Of An Intrinsically Compliant Robotmentioning

confidence: 99%

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Assist-as-Needed Control of an Intrinsically Compliant Robotic Gait Training Orthosis

Hussain

Jamwal

Ghayesh

et al. 2017

IEEE Trans. Ind. Electron.

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Abstract-It is a common hypothesis in the field of robot assisted gait rehabilitation that the active involvement and voluntary participation of neurologically impaired subjects in the robotic gait training process may enhance the outcomes of such therapy. An adaptive seamless assist-as-needed (AAN) control scheme was developed for the robotic gait training. The AAN control scheme learns in real time the disability level of human subjects based on the trajectory tracking errors and adapts the robotic assistance accordingly. The overall AAN control architecture works on the basis of a robust adaptive control approach. The performance of seamless AAN control scheme was evaluated during treadmill training with a compliant robotic orthosis having 6-degrees of freedom (DOF). Two experiments, namely trajectory following experiment and the AAN experiment were carried out to evaluate the performance of seamless adaptive AAN control scheme. It was found that the robotic orthosis is capable of guiding the subjects' limbs on reference trajectories during the trajectory following experiment. Also, a variation in robotic assistance was recorded during the AAN experiment based on the voluntary participation of human subjects. This work is an advance on the current state of the art in the compliant actuation of robotic gait rehabilitation orthoses in the context of seamless AAN gait training.

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Section: Assist-as-needed Control Of An Intrinsically Compliant Robotmentioning

confidence: 99%

Section: Assist-as-needed Control Of An Intrinsically Compliant Robotmentioning

confidence: 99%

Assist-as-Needed Control of an Intrinsically Compliant Robotic Gait Training Orthosis

Hussain

Jamwal

Ghayesh

et al. 2017

IEEE Trans. Ind. Electron.

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“…로봇산업이 발달하면서 로봇은 산업현장에서 뿐만 아니라 생활 속에 공존하는 존재로 자리매김을 하게 되 었다 [1][2][3]. 로봇은 상황에 따라서 저임피던스와 고임피 던스를 갖도록 해야한다 [4][5][6].…”

Section: ⅰ 서 론unclassified

Robust Tracking and Human-Compliance Control Using Integral SMC and DOB

어시그네시온¹,

Chan²,

Kwak³

et al. 2017

Journal of the Korea Institute of Information and Communication

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The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper.

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“…Based on the dynamic model of the SEA, the controller provides human joint motion compensation and friction compensation with a disturbance observer [5]. This control method enables the robot to achieve low output impedance when operating in the human-in-charge mode and achieve accurate force tracking when operating in the assistive mode.…”

Section: Extended Abstractmentioning

confidence: 99%

A Wearable Robotic Exoskeleton for Gait Rehabilitation

Huang¹

2017

World Congress on Electrical Engineering and Computer Systems and Science

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Extended AbstractSurvivors of neurological disorders such as spinal cord injuries, stroke, neurodegenerative diseases or brain injury suffer from serious gait disorders [1]. Physical therapy such as intensive gait training can restore gait performance and improve the quality of life of patients [2]. However, conventional gait training is labour intensive and costly. Rehabilitation robots are able to reduce the labour intensity of therapists and provide better functional outcomes for patients [3]. This paper presents a novel robotic exoskeleton for sub-acute and chronic stroke patients to conduct over-ground gait training at home and outpatient setting. The device is wearable, compact, lightweight and in modular design. It consists of a knee joint and an ankle joint actuated by the same novel series elastic actuator (SEA) [4]. The novel SEA design overcomes the limitation of conventional SEA design by using one low-stiffness translational spring at low speed range and one high-stiffness torsion spring at high speed range. This enables the actuator to have a high intrinsic compliance as well as high peak force. The stiffness of the springs and driving mechanism of the joints are optimized based on the biomechanics of human gait. The robot remains compliant during the majority of the gait cycle and can provide the peak power during push off phase.We developed a novel human-robot interaction controller to achieve accurate and stable control of the interactive torque between the robot and human joints. Based on the dynamic model of the SEA, the controller provides human joint motion compensation and friction compensation with a disturbance observer [5]. This control method enables the robot to achieve low output impedance when operating in the human-in-charge mode and achieve accurate force tracking when operating in the assistive mode.During over-ground gait training, it is critical for the robot to synchronize with the human movement and provide the assistance at the right gait phase. We develop a novel control system to synchronize the robot motion with the human motion [6]. Gait events are first detected in real time with a hidden Markov model (HMM). An adaptive oscillator is utilized to estimate the stride percentage of human gait based on the gait event information. Reference trajectories for the robot are then generated with the estimated stride percentage according to a lookup table. Assistive torque is provided to the human joint via an impedance controller according to the synchronous reference gait trajectory and the actual human joint movement.Extensive experiments have been conducted on healthy subjects to validate the design and evaluate the performance of the design and control of the system. Biomechanical analysis on the gait and muscle activation patterns prove that robot can provide synchronous and effective assistance to the human joints during over-ground walking. Preliminary clinical trials with stroke patients also prove that the system can improve the gait patterns of the patients. More compreh...

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Human–Robot Interaction Control of Rehabilitation Robots With Series Elastic Actuators

Cited by 300 publications

References 35 publications

Assist-as-Needed Control of an Intrinsically Compliant Robotic Gait Training Orthosis

Assist-as-Needed Control of an Intrinsically Compliant Robotic Gait Training Orthosis

Robust Tracking and Human-Compliance Control Using Integral SMC and DOB

A Wearable Robotic Exoskeleton for Gait Rehabilitation

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