Journal
APPLIED SCIENCES-BASEL
Volume 12, Issue 10, Pages -Publisher
MDPI
DOI: 10.3390/app12104993
Keywords
upper limb exoskeleton; rehabilitation robot; sliding mode controller; LSSVM; intent recognition
Categories
Funding
- Natural Science Foundation of Shaanxi Province [2020JM-131, 2020KW-058]
- Guangdong Basic and Applied Basic Research Foundation [2019A1515111176]
- Guangdong Science and Technology Innovation Strategy Special Foundation [2019B090904007]
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This study proposed a radial basis function sliding mode impedance control method based on surface electromyography (sEMG) to identify the movement intention of upper limb rehabilitation. The study first established a joint angle prediction model based on sEMG and then proposed an adaptive sliding mode controller to address the issue of poor compliance in rehabilitation training.
Aiming at the lack of active willingness of patients to participate in the current upper limb exoskeleton rehabilitation training control methods, this study proposed a radial basis function (RBF) sliding mode impedance control method based on surface electromyography (sEMG) to identify the movement intention of upper limb rehabilitation. The proposed control method realizes the process of active and passive rehabilitation training according to the wearer's movement intention. This study first established a joint angle prediction model based on sEMG for the problem of poor human-machine coupling and used the least-squares support vector machine method (LSSVM) to complete the upper limb joint angle prediction. In addition, in view of the problem of poor compliance in the rehabilitation training process, an adaptive sliding mode controller based on the RBF network approximation system model was proposed. In the process of active training, an impedance model was added based on the position loop control, which could dynamically adjust the motion trajectory according to the interaction force. The experiment results showed that the impedance control method based on the RBF could effectively reduce the interaction force between the human and machine to improve the compliance of the exoskeleton manipulator and achieve the purpose of stabilizing the impedance characteristics of the system.
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