Voluntary and Adaptive Control Strategy for Ankle Rehabilitation Robot

SHEN Zhihang; ZHANG Ling; SU Yuehong; XING Hongwei; LI Bin

doi:10.12455/j.issn.1671-7104.230642

Chinese Journal of Medical Instrumentation > 2024 > 48(4): 385-391. > DOI: 10.12455/j.issn.1671-7104.230642

SHEN Zhihang, ZHANG Ling, SU Yuehong, XING Hongwei, LI Bin. Voluntary and Adaptive Control Strategy for Ankle Rehabilitation Robot[J]. Chinese Journal of Medical Instrumentation, 2024, 48(4): 385-391. DOI: 10.12455/j.issn.1671-7104.230642

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Voluntary and Adaptive Control Strategy for Ankle Rehabilitation Robot

1.
Information Center, Sun Yat-sen University Cancer Center, Guangzhou, 510060
2.
Modern Education Technology Center, Guangzhou Vocational College of Technology & Business, Guangzhou, 511442

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Received Date: November 14, 2023
Available Online: August 06, 2024

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Abstract

Abstract

The control strategy of rehabilitation robots should not only adapt to patients with different levels of motor function but also encourage patients to participate voluntarily in rehabilitation training. However, existing control strategies usually consider only one of these aspects. This study proposes a voluntary and adaptive control strategy that solves both questions. Firstly, the controller switched to the corresponding working modes (including challenge, free, assistant, and robot-dominant modes) based on the trajectory tracking error of human-robot cooperative movement. To encourage patient participation, a musculoskeletal model was used to estimate the patient’s active torque. The robot’s output torque was designed as the product of the active torque and a coefficient, with the coefficient adaptively changing according to the working mode. Experiments were conducted on two healthy subjects and four hemiplegic patients using an ankle rehabilitation robot. The results showed that this controller not only provided adaptive the robot’s output torque based on the movement performance of patients but also encouraged patients to complete movement tasks themselves. Therefore, the control strategy has high application value in the field of rehabilitation.
- rehabilitation robots,
- adaptive control,
- voluntary

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References (25)

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