Research on the Rehabilitation Robot Control Methods for Analysis of Lower Limb Kinetics during Sit to Stand Process

2015 ◽  
Vol 742 ◽  
pp. 535-539
Author(s):  
Kun Liu ◽  
Jian Chen Zhao ◽  
En Guo Cao ◽  
Xuan Han
Keyword(s):  
Lower Limb ◽  
Control Method ◽  
Center Of Pressure ◽  
Rehabilitation Robot ◽  
Control Methods ◽  
Real Time Control ◽  
Joint Moments ◽  
Kinetics Parameters ◽  
Movement Trajectories ◽  
Sit To Stand

A new method for analyzing lower limb kinetics during sit to stand process is presented, and a trajectory control method (TCM) and an impedance control method (ICM) for a rehabilitation robot are developed. During the sit to stand process (SSP), body segment rotational angles, movement trajectories, ground reaction forces (GRF), center of pressure (COP) and rope tensile forces are measured by the robot sensor system, and the joint moments of ankle, knee and hip are calculated in real-time control program. Test experiments were performed on six volunteers. The experimental results validate the theory that the control methods can assure the accomplishment of the sit to stand process in comfortable postures, and improve the condition of joint moments. The control methods are suitable for self-supported home training, and can be applied to assess kinetics parameters during the sit to stand process and improve the rehabilitation of patients.

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.

scholarly journals Investigation of Control Method for Connected-Automated Vehicle to Multiplex Dedicated Bus Lane

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Wei-Jie Xiu ◽  
Li Wang ◽  
Meng-Yang Guo ◽  
Li-Li Zhang ◽  
Qi Zhao
Keyword(s):  
Control Method ◽  
Travel Speed ◽  
Control Methods ◽  
Real Time Control ◽  
Average Delay ◽  
Microscopic Traffic Simulation ◽  
Automated Vehicle ◽  
Time Control ◽  
Signal Light ◽  
Bus Lane

Dedicated bus lanes (DBLs) have been widely utilized to ensure public transport priority. To improve overall road efficiency, various control methods of multiplexing DBL are developed and discussed. In this study, we focus on the control method which is based on the connected-automated vehicle (CAV) technology, and the proposed method is validated by using microscopic traffic simulation. The simulation results show that two proposed control methods of multiplexing DBL can reduce the average delay and the average number of stops and increase the travel speed. In comparison, the real-time control method based on the CAV technology offers better effects than the improved signal light control method.

Force Control Based on Model Predictive for Lower Limb Rehabilitation Training

2015 ◽  
Vol 738-739 ◽  
pp. 991-994
Author(s):  
Fu Cheng Cao ◽  
Hong Wu Qin
Keyword(s):  
Force Control ◽  
Lower Limb ◽  
Control Method ◽  
Control Strategies ◽  
Industrial Robot ◽  
Control Law ◽  
Rehabilitation Robot ◽  
Patient Centered ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Human as a varying dynamic system, the control strategies of human-robot interacts differ significantly from that of conventional industrial robot. Considered the patient-centered exercise regimens, a force control method based predict is presented to control a lower limb rehabilitation robot. The control law is introduced that optimises the the maintained force level and limits excessive forceto injury the subject's lower extremity joints. Simulation results show that the robot could guide thelower limb of subjects to move under predefined model of the external force.

Leg Dominance May Not Be a Predictor of Asymmetry in Peak Joint Moments and Ground Reaction Forces During Sit-to-Stand Movements

2014 ◽  
Vol 30 (1) ◽  
pp. 179-183 ◽  
Author(s):  
Jonathon S. Schofield ◽  
Eric Parent ◽  
Justin Lewicke ◽  
Jason P. Carey ◽  
Marwan El-Rich ◽  
...  
Keyword(s):  
Lower Limb ◽  
Inverse Dynamics ◽  
Bilateral Symmetry ◽  
Joint Moment ◽  
Ground Reaction Forces ◽  
Joint Moments ◽  
Sit To Stand ◽  
Reaction Forces ◽  
Three Body ◽  
Leg Dominance

Sit-to-stand transfer is a common prerequisite for many daily tasks. Literature often assumes symmetric behavior across the left and right side. Although this assumption of bilateral symmetry is prominent, few studies have validated this supposition. This pilot study uniquely quantifies peak joint moments and ground reaction forces (GRFs), using a Euclidian norm approach, to evaluate bilateral symmetry and its relation to lower limb motor-dominance during sit to stand in ten healthy males. Peak joint moments and GRFs were determined using a motion capture system and inverse dynamics. This analysis included joint moment contributions from all three body planes (sagittal, coronal, and axial) as well as vertical and shearing GRFs. A paired, one-tailedttest was used, suggesting asymmetrical joint moment development in all three lower extremity joints as well as GRFs (P< .05). Furthermore, using an unpaired two-tailedttest, asymmetry developed during these movements does not appear to be predictable by participants’ lower limb motor-dominance (P< .025). Consequently, when evaluating sit-to-stand it is suggested the effects of asymmetry be considered in the interpretation of data. The absence of a relationship between dominance and asymmetry prevents the suggestion that one side can be tested to infer behavior of the contralateral.

Correlations between residual limb length and joint moments during sitting and standing movements in transfemoral amputees

2015 ◽  
Vol 40 (4) ◽  
pp. 522-527 ◽  
Author(s):  
M Jason Highsmith ◽  
Derek J Lura ◽  
Stephanie L Carey ◽  
Larry J Mengelkoch ◽  
Seok Hun Kim ◽  
...  
Keyword(s):  
Knee Joint ◽  
Lower Limb ◽  
Clinical Relevance ◽  
Moment Magnitude ◽  
Limb Length ◽  
Residual Limb ◽  
Joint Moments ◽  
Sit To Stand ◽  
Transfemoral Amputees ◽  
Amputation Surgery

Background and aim: Longer residual limb lengths provide an increased lever arm. Longer residual limbs may produce increased joint moments; the two may be correlated. These correlations have not been evaluated in transfemoral amputees during transitional movements. Correlations between residual limb length and involved side joint moment could contribute to justification supporting maximal residual limb length preservation. This study investigated possible correlations between hip or knee moment and residual limb length. Technique: Hip and knee joint moments were determined while 21 transfemoral amputees performed sitting and standing movements and then evaluated for correlation with residual limb length. Discussion: Residual limb length was not correlated with either knee or involved side hip moments during sit to stand or stand to sit. Conversely, weak inverse correlations ( p < 0.05) existed between sound hip moment magnitude and residual limb length. These correlations suggest that in community ambulating transfemoral amputees, longer residual limb length could decrease sound hip kinetic burden during transitional movement. Beyond correlations between residual limb length and sound hip transitional movement kinetics, there are other considerations in determining residual limb length during amputation. Clinical relevance This study examines relationships between lower limb joint moments and residual limb length related to sit-to-stand and stand-to-sit activities. The results have implications for amputation surgery and rehabilitation.

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