Multi-mode adaptive control strategy for a lower limb rehabilitation robot
文献类型：期刊论文
| 作者 | Liang, Xu1 ; Yan, Yuchen2; Dai, Shenghua1; Guo, Zhao3; Li, Zheng4; Liu, Shengda5; Su, Tingting6
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| 刊名 | FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
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| 出版日期 | 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. |
| WOS关键词 | GESTURE RECOGNITION ; TECHNOLOGY |
| 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研究方向 | Biotechnology & Applied Microbiology ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001234333400001 |
| 出版者 | FRONTIERS MEDIA SA |
| 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 |
| 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 Jiaotong Univ, Sch Automat & Intelligence, Beijing, Peoples R China 2.North China Univ Technol, Dept Mech & Elect Engn, Beijing, Peoples R China 3.Wuhan Univ, Sch Power & Mech Engn, Wuhan, Peoples R China 4.Chinese Univ Hong Kong, Fac Med, Shatin, Hong Kong, Peoples R China 5.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 6.Beijing Univ Technol, Fac Informat Technol, 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. |
入库方式： OAI收割
来源：自动化研究所
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