Position/force evaluation-based assist-as-needed control strategy design for upper limb rehabilitation exoskeleton

Guo, Yida; Wang, Haoping; Tian, Yu‐Ping; Xu, Jiazhen

doi:10.1007/s00521-022-07180-x

Cited by 13 publications

(9 citation statements)

References 41 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Ibarra and Wang also suggested adaptive impedance control strategies, considering the influence of patients on the ankle rehabilitation robot and adjusting the robot aids in real time ( Perez-Ibarra et al, 2015 ; Wang et al, 2019 ). The intervention of the exoskeleton was considered in the process of training ( Guo et al, 2022b ).…”

Section: Discussionmentioning

confidence: 99%

Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction

Zhang,

Li,

Tao

et al. 2024

Front. Bioeng. Biotechnol.

View full text Add to dashboard Cite

Introduction: With the aggravation of aging and the growing number of stroke patients suffering from hemiplegia in China, rehabilitation robots have become an integral part of rehabilitation training. However, traditional rehabilitation robots cannot modify the training parameters adaptively to match the upper limbs’ rehabilitation status automatically and apply them in rehabilitation training effectively, which will improve the efficacy of rehabilitation training.Methods: In this study, a two-degree-of-freedom flexible drive joint rehabilitation robot platform was built. The forgetting factor recursive least squares method (FFRLS) was utilized to estimate the impedance parameters of human upper limb end. A reward function was established to select the optimal stiffness parameters of the rehabilitation robot.Results: The results confirmed the effectiveness of the adaptive impedance control strategy. The findings of the adaptive impedance control studies showed that the adaptive impedance control had a significantly greater reward than the constant impedance control, which was in line with the simulation results of the variable impedance control. Moreover, it was observed that the levels of robot assistance could be suitably modified based on the subject’s different participation.Discussion: The results facilitated stroke patients’ upper limb rehabilitation by enabling the rehabilitation robot to adaptively change the impedance parameters according to the functional status of the affected limb. In clinic therapy, the proposed control strategy may help to adjust the reward function for different patients to improve the rehabilitation efficacy eventually.

show abstract

Section: Discussionmentioning

confidence: 99%

Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction

Zhang,

Li,

Tao

et al. 2024

Front. Bioeng. Biotechnol.

View full text Add to dashboard Cite

show abstract

“…Therefore, in this study, using the skeleton–muscle–robot integrated equivalent model and the parallel recursive modeling method, the skeleton–muscle–robot rigid–flexible coupling integrated dynamics model is creatively established, which provides a new research idea to improve the dynamic rehabilitation performance. The compliant motion planning and intelligent control strategy of reconfigurable modular flexible upper limb exoskeleton rehabilitation robot are proposed. Refer to the published articles, 23 –30 the existing compliance movement planning lacks clear decomposition procedures and optimization processes, and the research on how to ensure the smooth compliance of rehabilitation movement with external interference is not perfect, which have not been well addressed by previously published articles yet. Therefore, the adaptive compliant rehabilitation action of the reconfigurable modular flexible upper limb exoskeleton rehabilitation robot is creatively designed and planned, and the IFTFSMC strategy of the reconfigurable modular flexible upper limb exoskeleton rehabilitation robot is deeply studied.…”

Section: Discussionmentioning

confidence: 99%

“…In addition to innovating the structural design, the rehabilitation motion compliance can also be improved by improving the motion planning and control methods. [23][24][25][26][27] Goto et al 28 took a redundant driven upper limb exoskeleton rehabilitation robot as the research object, starting from the aspects of mechanical structure and control methods, the feasibility of realizing the compliant motion of the physical prototype of the rehabilitation robot is verified by simulation and experiment. Islam et al 29 proposed the fractional order sliding mode control algorithm to control the sevendegree of freedom upper limb exoskeleton rehabilitation robot (u-Rob) and verified the algorithm's good tracking and anti-buffeting effect by using Lyapunov theory, which improved the motion flexibility, however, they did not fully consider the fit characteristics between the robot and patient, and the wearing comfort needs to be further improved, and the product is still in the simulation stage, whether it has good rehabilitation effect in practical application needs to be further verified.…”

Section: Introductionmentioning

confidence: 99%

Research on configuration design and intelligent compliance control of reconfigurable modular flexible upper limb rehabilitation robot

Zheng

Zhang

2023

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

The upper limb exoskeleton rehabilitation robot can realize the partial functional compensation of upper limb and complete the various types of rehabilitation training for each joint of upper limb. However, the existing upper limb exoskeleton rehabilitation robots are lack of flexible reconfigurability, which are difficult to meet the diversified patient objects and rehabilitation needs, and have some problems, such as insufficient motion compliance, poor portability, and wearing comfort. To effectively solve the above problems and improve the effect of upper limb rehabilitation training, this project plans to carry out the following research: Firstly, analyze the structural characteristic and movement mechanism of upper limb, clarify the configuration theory of the modular flexible upper limb exoskeleton rehabilitation robot with reconfigurable, and design and optimize the mechanism form and structural parameters of the reconfigurable modular flexible upper limb exoskeleton rehabilitation robot. Secondly, based on the perspective of rigid–flexible coupling integration of bone–muscle–robot, the integrated equivalent mechanism model is constructed and the integrated dynamics model is established to plan compliance motion and develop intelligent compliance control strategy. Finally, the simulation experimental platform is built for simulation experimental demonstration of upper limb rehabilitation training. The implementation of this study will provide new idea and method for realizing the effect of flexible, compliance, light, and comfortable of upper limb rehabilitation training.

show abstract

“…A time‐invariant BLF‐based controller is proposed for an upper limb exoskeleton, 14 in which the BLF can ensure that the tracking error is within a preset boundary, so as to ensure that the subject's motion trajectory will not exceed the safe range. Then, a time‐variant BLF‐based controller is proposed for an upper limb exoskeleton, 16 the tracking error was kept in a decreasing boundary by BLF to make the subject's motion trajectory more closely match the desired trajectory. And the BLF is also widely used to deal with state constraints 17 and output constraints 18 .…”

Section: Introductionmentioning

confidence: 99%

Asymmetric time‐varying BLF‐based model‐free hybrid force/position control for SEA‐based 2‐DOF manipulator

Wei

Wang

Tian

2023

Adaptive Control & Signal

View full text Add to dashboard Cite

Summary In this work, an asymmetric time‐varying barrier Lyapunov function‐based model‐free hybrid force/position controller (ABLF‐MFC) is proposed for the series elastic actuator‐based 2‐DOF manipulator. Inspired by large surface machining, many scenarios require hybrid force/position control, and the simple position control can no longer meet the above requirements. Therefore, ABLF‐MFC with a dual‐loop structure is established, which are force sub‐control loop and position sub‐control loop. Based on the idea of admittance control, the force sub‐control loop generates a reference trajectory according to the desired interaction force and trajectory. Then, for the position sub‐control loop, to simplify the controller design process, an ultra‐local model (ULM) is introduced, which can approximate the original system. Since the ULM has an unknown term, time‐delay estimation (TDE) is applied to estimate it, which can also reduce the dependence on accurate model parameters. The position sub‐control loop is designed by an asymmetric time‐varying barrier Lyapunov function, an integral‐type Lyapunov function and an adaptive compensation term, so the tracking error can be kept within the preset boundary while ensuring the convergence, and the TDE estimation error can be compensated. Rigorous mathematical proofs and simulation results verify the effectiveness of ABLF‐MFC.

show abstract

Position/force evaluation-based assist-as-needed control strategy design for upper limb rehabilitation exoskeleton

Cited by 13 publications

References 41 publications

Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction

Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction

Research on configuration design and intelligent compliance control of reconfigurable modular flexible upper limb rehabilitation robot

Asymmetric time‐varying BLF‐based model‐free hybrid force/position control for SEA‐based 2‐DOF manipulator

Contact Info

Product

Resources

About