Multi-mode adaptive control strategy for a lower limb rehabilitation robot

doi:10.3389/fbioe.2024.1392599

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室 > 医疗机器人

	Multi-mode adaptive control strategy for a lower limb rehabilitation robot
	Liang, Xu 6; Yan, Yuchen 5; Dai, Shenghua 6; Guo, Zhao 4; Li, Zheng 3; Liu, Shengda 2; Su, Tingting 1
刊名	FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
	2024-05-16
卷号	12 页码:15
关键词	impedance control rehabilitation robot multi-mode adaptive control human-robot interaction rehabilitation training strategy
ISSN号	2296-4185
DOI	10.3389/fbioe.2024.1392599
通讯作者	Su, Tingting(sutingting@bjut.edu.cn)
英文摘要	Different patients have different rehabilitation requirements. It is essential to ensure the safety and comfort of patients at different recovery stages during rehabilitation training. This study proposes a multi-mode adaptive control method to achieve a safe and compliant rehabilitation training strategy. First, patients' motion intention and motor ability are evaluated based on the average human-robot interaction force per task cycle. Second, three kinds of rehabilitation training modes-robot-dominant, patient-dominant, and safety-stop-are established, and the adaptive controller can dexterously switch between the three training modes. In the robot-dominant mode, based on the motion errors, the patient's motor ability, and motion intention, the controller can adaptively adjust its assistance level and impedance parameters to help patients complete rehabilitation tasks and encourage them to actively participate. In the patient-dominant mode, the controller only adjusts the training speed. When the trajectory error is too large, the controller switches to the safety-stop mode to ensure patient safety. The stabilities of the adaptive controller under three training modes are then proven using Lyapunov theory. Finally, the effectiveness of the multi-mode adaptive controller is verified by simulation results.
资助项目	National Key R&D Program of China[2023YFE0202100] ; Natural Science Foundation of China[62373013] ; Natural Science Foundation of China[62103007] ; Natural Science Foundation of China[62203442] ; Natural Science Foundation of China[62003005] ; R&D Program of Beijing Municipal Education Commission[KM202110009009] ; R&D Program of Beijing Municipal Education Commission[KM202210009010] ; Natural Science Foundation of Beijing[L202020] ; Natural Science Foundation of Beijing[4204097] ; Talent Fund of Beijing Jiaotong University[KAIXKRC24003532]
WOS关键词	GESTURE RECOGNITION ; TECHNOLOGY
WOS研究方向	Biotechnology & Applied Microbiology ; Engineering
语种	英语
出版者	FRONTIERS MEDIA SA
WOS记录号	WOS:001234333400001
资助机构	National Key R&D Program of China ; Natural Science Foundation of China ; R&D Program of Beijing Municipal Education Commission ; Natural Science Foundation of Beijing ; Talent Fund of Beijing Jiaotong University
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/58471]
专题	多模态人工智能系统全国重点实验室_医疗机器人
通讯作者	Su, Tingting
作者单位	1.Beijing Univ Technol, Fac Informat Technol, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 3.Chinese Univ Hong Kong, Fac Med, Shatin, Hong Kong, Peoples R China 4.Wuhan Univ, Sch Power & Mech Engn, Wuhan, Peoples R China 5.North China Univ Technol, Dept Mech & Elect Engn, Beijing, Peoples R China 6.Beijing Jiaotong Univ, Sch Automat & Intelligence, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Liang, Xu,Yan, Yuchen,Dai, Shenghua,et al. Multi-mode adaptive control strategy for a lower limb rehabilitation robot[J]. FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY,2024,12:15.
APA	Liang, Xu.,Yan, Yuchen.,Dai, Shenghua.,Guo, Zhao.,Li, Zheng.,...&Su, Tingting.(2024).Multi-mode adaptive control strategy for a lower limb rehabilitation robot.FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY,12,15.
MLA	Liang, Xu,et al."Multi-mode adaptive control strategy for a lower limb rehabilitation robot".FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY 12(2024):15.