A Multiposture Robot for Full Cycle Rehabilitation of Lower Limbs: Design and Autonomous Training
文献类型：期刊论文
| 作者 | Wang, Weiqun1,2 ; Shi, Weiguo1,2; Xiang, Kexin1,2; Ren, Shixin1,2; Lin, Tianyu1,2; Liu, Shengda2; Liang, Xu3; Wang, Jiaxing2; Hou, Zeng-Guang1,2
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 出版日期 | 2024-02-23 |
| 页码 | 12 |
| 关键词 | Autonomous training based on surface electromyography (sEMG) mechanism design and optimization rehabilitation robot training trajectory optimization |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2024.3362381 |
| 通讯作者 | Wang, Weiqun(weiqun.wang@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn) |
| 英文摘要 | Previous rehabilitation robots were usually designed for certain stages, which causes relatively low rehabilitation efficiency. In this study, a multiposture robot was designed for full cycle rehabilitation training for the patients with lower limb disfunctions. Functions of the typical rehabilitation equipments, including the rehabilitation bicycles, the standing beds for the orthostatic hypotension, and the gait trainers, were realized on the robot. Firstly, in order to implement training in the sitting, lying, and standing postures, a slider-pulley-chute mechanism was designed to obtain zero displacement deviation during the backrest adjustment. Then, the biomimetic gait trajectories were designed based on cooperative control of the leg mechanisms, the center of gravity (CoG), and the body weight supporting system; meanwhile, the key points of CoG trajectories for ascending or descending steps were deliberately designed and the suitable CoG trajectories were regenerated using a fifth-order polynomial, based on which continuously implement of ascending or descending steps on the robot was realized. Moreover, sEMG based motion intention recognition paradigms for variable velocity cycling and multi-mode walking were designed and the associated decoders were developed by combined using the support vector machine and stepwise linear regression algorithms and the minimal redundancy maximal relevance criterion. Finally, the autonomous cycling and multi-mode walking training was successfully realized based on recognizing in real time the subjects' intentions for adjustment of cycling velocities or walking modes. The feasibility of the proposed methods was validated based on simulation and real implement of the sEMG based autonomous cycling and multi-mode walking. |
| WOS关键词 | STROKE ; INFORMATION ; GAIT ; EMG |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001176562400001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/56924]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Wang, Weiqun; Hou, Zeng-Guang |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 3.Beijing Jiaotong Univ, Sch Automat & Intelligence, Beijing 100044, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Weiqun,Shi, Weiguo,Xiang, Kexin,et al. A Multiposture Robot for Full Cycle Rehabilitation of Lower Limbs: Design and Autonomous Training[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2024:12. |
| APA | Wang, Weiqun.,Shi, Weiguo.,Xiang, Kexin.,Ren, Shixin.,Lin, Tianyu.,...&Hou, Zeng-Guang.(2024).A Multiposture Robot for Full Cycle Rehabilitation of Lower Limbs: Design and Autonomous Training.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12. |
| MLA | Wang, Weiqun,et al."A Multiposture Robot for Full Cycle Rehabilitation of Lower Limbs: Design and Autonomous Training".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024):12. |
入库方式： OAI收割
来源：自动化研究所
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