Adaptive Estimation of Human-Robot Interaction Force for Lower Limb Rehabilitation

2019 ◽  
pp. 540-547
Author(s):  
Xu Liang ◽  
Weiqun Wang ◽  
Zengguang Hou ◽  
Shixin Ren ◽  
Jiaxing Wang ◽  
...  
Keyword(s):  
Lower Limb ◽  
Adaptive Estimation ◽  
Interaction Force ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

scholarly journals Online Reference Trajectory Adaptation: A Personalized Control Strategy for Lower Limb Exoskeletons

2021 ◽  
Author(s):  
Mohammad Shushtari ◽  
Rezvan Nasiri ◽  
Arash Arami
Keyword(s):  
Cost Function ◽  
Lower Limb ◽  
Interaction Force ◽  
Reference Trajectory ◽  
Time Symmetry ◽  
Spatiotemporal Parameters ◽  
Novel Method ◽  
The Cost ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

This paper presents a novel method for reference trajectory adaptation in lower limb rehabilitation exoskeletons during walking. Our adaptation rule is extracted from a cost function that penalizes both interaction force and trajectory modification. By adding trajectory modification term into the cost function, we restrict the boundaries of the reference trajectory adaptation according to the patient's motor capacity. The performance of the proposed adaptation method is studied analytically in terms of convergence and optimality. We also developed a realistic dynamic walking simulator and utilized it in performance analysis of the presented method. The proposed trajectory adaptation technique guarantees convergence to a stable, reliable, and rhythmic reference trajectory with no prior knowledge about the human intended motion. Our simulations demonstrate the convergence of exoskeleton trajectories to those of simulated healthy subjects while the exoskeleton trajectories adapt less to the trajectories of patients with reduced motor capacity (less reliable trajectories). Furthermore, the gait stability and spatiotemporal parameters such as step time symmetry and minimum toe off clearance enhanced by the adaptation in all subjects. The presented mathematical analysis and simulation results show the applicability and effectiveness of the proposed method and its potential to be applied for trajectory adaptation in lower limb rehabilitation exoskeletons.

scholarly journals Control and Implementation of 2-DOF Lower Limb Exoskeleton Experiment Platform

2021 ◽  
Vol 34 (1) ◽  
Author(s):  
Zhenlei Chen ◽  
Qing Guo ◽  
Huiyu Xiong ◽  
Dan Jiang ◽  
Yao Yan
Keyword(s):  
Lower Limb ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Interaction Force ◽  
Human Robot Interaction ◽  
Detection Accuracy ◽  
Robot Interaction ◽  
Experiment Platform ◽  
Lower Limb Exoskeleton

AbstractIn this study, a humanoid prototype of 2-DOF (degrees of freedom) lower limb exoskeleton is introduced to evaluate the wearable comfortable effect between person and exoskeleton. To improve the detection accuracy of the human-robot interaction torque, a BPNN (backpropagation neural networks) is proposed to estimate this interaction force and to compensate for the measurement error of the 3D-force/torque sensor. Meanwhile, the backstepping controller is designed to realize the exoskeleton's passive position control, which means that the person passively adapts to the exoskeleton. On the other hand, a variable admittance controller is used to implement the exoskeleton's active follow-up control, which means that the person's motion is motivated by his/her intention and the exoskeleton control tries best to improve the human-robot wearable comfortable performance. To improve the wearable comfortable effect, serval regular gait tasks with different admittance parameters and step frequencies are statistically performed to obtain the optimal admittance control parameters. Finally, the BPNN compensation algorithm and two controllers are verified by the experimental exoskeleton prototype with human-robot cooperative motion.

Influence of a Compatible Design on Physical Human-Robot Interaction Force: a Case Study of a Self-Adapting Lower-Limb Exoskeleton Mechanism

2019 ◽  
Vol 98 (2) ◽  
pp. 525-538 ◽  
Author(s):  
Jianfeng Li ◽  
Shiping Zuo ◽  
Chenghui Xu ◽  
Leiyu Zhang ◽  
Mingjie Dong ◽  
...  
Keyword(s):  
Lower Limb ◽  
Interaction Force ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Lower Limb Exoskeleton

Lower limb rehabilitation robotics: The current understanding and technology

Work ◽  
2021 ◽  
Vol 69 (3) ◽  
pp. 775-793
Author(s):  
Siddharth Bhardwaj ◽  
Abid Ali Khan ◽  
Mohammad Muzammil
Keyword(s):  
Lower Limb ◽  
The Elderly ◽  
Rehabilitation Robotics ◽  
Human Robot Interaction ◽  
Future Research ◽  
Limb Rehabilitation ◽  
And Control ◽  
Robotic Architecture ◽  
Lower Limb Rehabilitation ◽  
Rehabilitation Robotic

BACKGROUND: With the increasing rate of ambulatory disabilities and rise in the elderly population, advance methods to deliver the rehabilitation and assistive services to patients have become important. Lower limb robotic therapeutic and assistive aids have been found to improve the rehabilitation outcome. OBJECTIVE: The article aims to present the updated understanding in the field of lower limb rehabilitation robotics and identify future research avenues. METHODS: Groups of keywords relating to assistive technology, rehabilitation robotics, and lower limb were combined and searched in EMBASE, IEEE Xplore Digital Library, Scopus, Web of Science and Google Scholar database. RESULTS: Based on the literature collected from the databases we provide an overview of the understanding of robotics in rehabilitation and state of the art devices for lower limb rehabilitation. Technological advancements in rehabilitation robotic architecture (sensing, actuation and control) and biomechanical considerations in design have been discussed. Finally, a discussion on the major advances, research directions, and challenges is presented. CONCLUSIONS: Although the use of robotics has shown a promising approach to rehabilitation and reducing the burden on caregivers, extensive and innovative research is still required in both cognitive and physical human-robot interaction to achieve treatment efficacy and efficiency.

Recent Advances on Horizontal Lower Limb Rehabilitation Robot

2017 ◽  
Vol 10 (2) ◽  
Author(s):  
Jingang Jiang ◽  
Xuefeng Ma ◽  
Biao Huo ◽  
Xiaoyang Yu ◽  
Xiaowei Guo ◽  
...  
Keyword(s):  
Lower Limb ◽  
Rehabilitation Robot ◽  
Recent Advances ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

2014 ◽  
Vol 672-674 ◽  
pp. 1770-1773 ◽  
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Dynamic Response ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

Integrated design of a lower limb rehabilitation mechanism using differential evolution

2021 ◽  
Vol 92 ◽  
pp. 107103
Author(s):  
José Saúl Muñoz-Reina ◽  
Miguel Gabriel Villarreal-Cervantes ◽  
Leonel Germán Corona-Ramírez
Keyword(s):  
Differential Evolution ◽  
Lower Limb ◽  
Integrated Design ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation
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