Human-in-the-Loop Control Strategy of Unilateral Exoskeleton Robots for Gait Rehabilitation
文献类型：期刊论文
| 作者 | Wei, Dong2; Li, Zhijun2; Wei, Qiang2; Su, Hang3; Song, Bo4; He, Wei1,5; Li, Jianqiang6 |
| 刊名 | IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS
 |
| 出版日期 | 2021-03-01 |
| 卷号 | 13 |
| ISSN号 | 2379-8920 |
| 关键词 | Exoskeletons Legged locomotion Robot kinematics Training Real-time systems Cameras Gait rehabilitation human-in-the-loop control unilateral exoskeleton |
| DOI | 10.1109/TCDS.2019.2954289 |
| 通讯作者 | Li, Zhijun(zjli@ieee.org) |
| 英文摘要 | In this article, a human-in-the-loop control methodology is proposed for the gait rehabilitation of patients with hemiplegia. It utilizes a unilateral exoskeleton system consisting of a unilateral lower limb exoskeleton and a real-time robot follower, such that the affected legs can be coordinated with the healthy legs with the assistance of the exoskeleton robot. In order to achieve immersive training during the physical therapy, the human-in-the-loop controller is developed. Furthermore, a region-based barrier Lyapunov function (BLF) is designed to separate the task workspace of the exoskeleton into a human region and a robot region, enabling the human leg to follow the desired motion trajectory in a compliant region, and the motion control of the exoskeleton is determined by humans; while in the robot region, the exoskeleton dominates the movement of human subjects. In order to make the motion control transit smoothly between the robot region and the human region, an adaptive controller is exploited to counteract the system's nonlinear uncertainties. Both the theoretical analysis and experimental results support the effectiveness and practicability on hemiplegic patients of our control strategy. |
| 资助项目 | National Natural Science Foundation of China[61573147] ; National Natural Science Foundation of China[61625303] ; National Natural Science Foundation of China[61751310] ; National Key Research and Development Program of China[2017YFB1302302] ; National Key Research and Development Program of China[2018YFC2001600] ; National Key Research and Development Program of China[2018YFC2001602] ; Anhui Science and Technology Major Program[17030901029] |
| WOS研究方向 | Computer Science ; Robotics ; Neurosciences & Neurology |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:000628911300006 |
| 资助机构 | National Natural Science Foundation of China ; National Key Research and Development Program of China ; Anhui Science and Technology Major Program |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/121211]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Li, Zhijun |
| 作者单位 | 1.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Inst Artificial Intelligence, Beijing 100083, Peoples R China 2.Univ Sci & Technol China, Dept Automat, Hefei 230026, Peoples R China 3.Politecn Milan, Dipartimento Elettron Informaz & Bioingn, I-20133 Milan, Italy 4.Chinese Acad Sci, Lab Robot Sensor Robot & Human Machine Interact, Inst Intelligent Machines, Hefei 230031, Peoples R China 5.Univ Sci & Technol Beijing, Key Lab Knowledge Automat Ind Proc, Minist Educ, Beijing 100083, Peoples R China 6.Shenzhen Univ, Coll Comp Sci & Software Engn, Shenzhen 518060, Guangdong, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wei, Dong,Li, Zhijun,Wei, Qiang,et al. Human-in-the-Loop Control Strategy of Unilateral Exoskeleton Robots for Gait Rehabilitation[J]. IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,2021,13. |
| APA | Wei, Dong.,Li, Zhijun.,Wei, Qiang.,Su, Hang.,Song, Bo.,...&Li, Jianqiang.(2021).Human-in-the-Loop Control Strategy of Unilateral Exoskeleton Robots for Gait Rehabilitation.IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,13. |
| MLA | Wei, Dong,et al."Human-in-the-Loop Control Strategy of Unilateral Exoskeleton Robots for Gait Rehabilitation".IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS 13(2021). |
入库方式： OAI收割
来源：合肥物质科学研究院
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