Review of human—robot coordination control for rehabilitation based on motor function evaluation

Abstract

As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human—robot coupling system is a control system to ensure human—robot coordination. This review aims to summarise the development of human—robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human—robot coordination of lower limb rehabilitation robots. Then, human—robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human—robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human—robot coordination and providing a reference for relevant research.

Multimodal Sensing in Stroke Motor Rehabilitation

“…Evaluating the relation between the sensor-based outcomes that are obtained from moving in a free-living environment and the level of functioning as assessed by existing clinical evaluation methods. [8] Summarizing the development of human-robot coordination control and the associated research achievements…”

“…[ 7 ] Shi reviews the development and related research results of human‐machine coordinated control in stroke rehabilitation, and discusses robotic rehabilitation, human‐machine coupling system modeling and evaluation methods based on multimodal sensors. [ 8 ] Also in the area of robot‐assisted therapy, focusing on the upper limb, Balasubramanian discusses how sensor‐based robots quantitatively assess motor function in stroke patients. [ 9 ] Unlike previous reviews of site‐specific exoskeletons, Lee provides a general overview of exoskeletons for the entire human body parts to illustrate the diverse strategies.…”

A Generic Model for the Human and AGV-Aided Reconfigurable Flexible Job Shop Scheduling Problems

“…Human-machine interaction (HMI) is an important and rapidly developing field since current manufacturing systems are either technologically or economically infeasible to exclude human workers. Previous studies mainly focused on the design of collaborative robots [16] and the control problems [20] in HMI systems. Additionally, Kessler et al [12] proposed a framework for human-centered production planning control in IMS.…”

A Robust Fuzzy Fractional Order PID Design Based On Multi-Objective Optimization For Rehabilitation Device Control

“…Hence, optimizing the control adaptability is the main focus of current research activities in this field [36]. Findings show that Fuzzy Logic Fractional Order Proportional Integral Derivative Controllers (FOPID-FLC) ensure high adaptability [37]- [38].…”

“…In this paper, we design an enhanced (FOPID-FLC) based on a hybrid control strategy [39]. Then both FOPID and FLC techniques are used to ensure respectively flexibility and robustness [40]- [41]. The robot's actions are guided by a predetermined motion plan, while also being adaptable to the patient's movements, responses, and requirements [42].…”