Stable human-robot interaction control for upper-limb rehabilitation robotics

BACKGROUND: The definition of rehabilitation training trajectory is of great significance during rehabilitation training, and the dexterity of human-robot interaction motion provides a basis for selecting the trajectory of interaction motion. OBJECTIVE: Aimed at the kinematic dexterity of human-robot interaction, a velocity manipulability ellipsoid intersection volume (VMEIV) index is proposed for analysis, and the dexterity distribution cloud map is obtained with the human-robot cooperation space. METHOD: Firstly, the motion constraint equation of human-robot interaction is established, and the Jacobian matrix is obtained based on the speed of connecting rod. Then, the Monte Carlo method and the cell body segmentation method are used to obtain the collaborative space of human-robot interaction, and the VMEIV of human-robot interaction is solved in the cooperation space. Finally, taking the upper limb rehabilitation robot as the research object, the dexterity analysis of human-robot interaction is carried out by using the index of the approximate volume of the VMEIV. RESULTS: The results of the simulation and experiment have a certain consistency, which indicates that the VMEIV index is effective as an index of human-robot interaction kinematic dexterity. CONCLUSIONS: The VMEIV index can measure the kinematic dexterity of human-robot interaction, and provide a reference for the training trajectory selection of rehabilitation robot.

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A Human-Robot Cooperative and Personalized Compliant Joint Controller for Upper-Limb Rehabilitation Robots: The Elbow Joint Validation

10.21203/rs.3.rs-595139/v1 ◽

2021 ◽

Author(s):

Stefano Dalla Gasperina ◽

Valeria Longatelli ◽

Francesco Braghin ◽

Alessandra Laura Giulia Pedrocchi ◽

Marta Gandolla

Keyword(s):

Upper Limb ◽

Human Robot Interaction ◽

Control Law ◽

Robot Interaction ◽

Activation Patterns ◽

Upper Limb Rehabilitation ◽

Control Framework ◽

High Level ◽

Limb Rehabilitation ◽

Muscular Activation

Abstract Background: Appropriate training modalities for post-stroke upper-limb rehabilitation are key features for effective recovery after the acute event. This work presents a novel human-robot cooperative control framework that promotes compliant motion and renders different high-level human-robot interaction rehabilitation modalities under a unified low-level control scheme. Methods: The presented control law is based on a loadcell-based impedance controller provided with positive-feedback compensation terms for disturbances rejection and dynamics compensation. We developed an elbow flexion-extension experimental setup, and we conducted experiments to evaluate the controller performances. Seven high-level modalities, characterized by different levels of (i) impedance-based corrective assistance, (ii) weight counterbalance assistance, and (iii) resistance, have been defined and tested with 14 healthy volunteers.Results: The unified controller demonstrated suitability to promote good transparency and render compliant and high-impedance behavior at the joint. Superficial electromyography results showed different muscular activation patterns according to the rehabilitation modalities. Results suggested to avoid weight counterbalance assistance, since it could induce different motor relearning with respect to purely impedance-based corrective strategies. Conclusion: We proved that the proposed control framework could implement different physical human-robot interaction modalities and promote the assist-as-needed paradigm, helping the user to accomplish the task, while maintaining physiological muscular activation patterns. Future insights involve the extension to multiple degrees of freedom robots and the investigation of an adaptation control law that makes the controller learn and adapt in a therapist-like manner.

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Human-robot coupling modeling and analysis for upper limb rehabilitation robots

Technology and Health Care ◽

10.3233/thc-202424 ◽

2020 ◽

pp. 1-15

Author(s):

Qiaolian Xie ◽

Qiaoling Meng ◽

Yue Dai ◽

Qingxin Zeng ◽

Yuanjie Fan ◽

...

Keyword(s):

Upper Limb ◽

Dynamic Control ◽

Human Robot Interaction ◽

Rehabilitation Robot ◽

Robot Interaction ◽

Upper Limb Rehabilitation ◽

Modeling And Analysis ◽

Rehabilitation Robots ◽

Human Arm ◽

Limb Rehabilitation

BACKGROUND: Upper limb rehabilitation robots have become an important piece of equipment in stroke rehabilitation. Human-robot coupling (HRC) dynamics play a key role in the control of rehabilitation robots to improve human-robot interaction. OBJECTIVE: This study aims to study the methods of modeling and analysis of HRC dynamics to realize more accurate dynamic control of upper limb rehabilitation robots. METHODS: By the analysis of force interaction between the human arm and the upper limb rehabilitation robot, the HRC torque is achieved by summing up the robot torque and the human arm torque. The HRC torque and robot torque of a 2-DOF upper limb rehabilitation robot (FLEXO-Arm) are solved by Lagrangian equation and step-by-step dynamic parameters identification method. RESULTS: The root mean square (RMS) is used to evaluate the accuracy of the HRC torque and the robot torque calculated by the parameter identification, and the error of both is about 10%. Moreover, the HRC torque and the robot torque are compared with the actual torque measured by torque sensors. The error of the robot torque is more than twice the HRC. Therefore, the HRC torque is more accurate than the actual torque. CONCLUSIONS: The proposed HRC dynamics effectively achieves more accurate dynamic control of upper limb rehabilitation robots.

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Developing a Robot-Guided Interactive Simon Game for Physical and Cognitive Training

International Journal of Humanoid Robotics ◽

10.1142/s0219843619500038 ◽

2019 ◽

Vol 16 (01) ◽

pp. 1950003

Author(s):

Mısra Turp ◽

José Carlos González ◽

José Carlos Pulido ◽

Fernando Fernández

Keyword(s):

Upper Limb ◽

Human Robot Interaction ◽

Robot Interaction ◽

Planning Techniques ◽

Upper Limb Rehabilitation ◽

Nao Robot ◽

Therapeutic Benefits ◽

Humanoid Nao ◽

Limb Rehabilitation ◽

Robotic Architecture

Enveloping cognitive or physical rehabilitation into a game highly increases the patients’ commitment with their treatment. Specially with children, keeping them motivated is a very time-consuming work, so therapists are demanding tools to help them with this task. NAOTherapist is a generic robotic architecture that uses Automated Planning techniques to autonomously drive noncontact upper-limb rehabilitation sessions for children with a humanoid NAO robot. Our aim is to develop more robotic games for this platform to enrich its variability and possibilities of interaction. The goal of this work is to present our first attempt to develop a different, more complex game that reuses the previous architecture. We contribute with the design description of a novel robotic Simon game that employs upper-limb poses instead of colors and could qualify as a cognitive and physical training. Statistics of evaluation tests with 14 adults and 56 children are displayed and the outcomes are analyzed in terms of human–robot interaction (HRI) quality. The results demonstrate the application-domain generalization capabilities of the NAOTherapist architecture and give an insight to further analyze the therapeutic benefits of the new developed Simon game.

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Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality

Micromachines ◽

10.3390/mi12080870 ◽

2021 ◽

Vol 12 (8) ◽

pp. 870

Author(s):

Md Rasedul Islam ◽

Md Assad-Uz-Zaman ◽

Brahim Brahmi ◽

Yassine Bouteraa ◽

Inga Wang ◽

...

Keyword(s):

Upper Limb ◽

Research Work ◽

Human Robot Interaction ◽

Control Technique ◽

Upper Arm ◽

Interaction Forces ◽

End Effector ◽

Upper Limb Rehabilitation ◽

End Point ◽

Limb Rehabilitation

The design of an upper limb rehabilitation robot for post-stroke patients is considered a benchmark problem regarding improving functionality and ensuring better human–robot interaction (HRI). Existing upper limb robots perform either joint-based exercises (exoskeleton-type functionality) or end-point exercises (end-effector-type functionality). Patients may need both kinds of exercises, depending on the type, level, and degree of impairments. This work focused on designing and developing a seven-degrees-of-freedom (DoFs) upper-limb rehabilitation exoskeleton called ‘u-Rob’ that functions as both exoskeleton and end-effector types device. Furthermore, HRI can be improved by monitoring the interaction forces between the robot and the wearer. Existing upper limb robots lack the ability to monitor interaction forces during passive rehabilitation exercises; measuring upper arm forces is also absent in the existing devices. This research work aimed to develop an innovative sensorized upper arm cuff to measure the wearer’s interaction forces in the upper arm. A PID control technique was implemented for both joint-based and end-point exercises. The experimental results validated both types of functionality of the developed robot.

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