Journal
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
Volume 31, Issue -, Pages 3384-3396Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TNSRE.2023.3306201
Keywords
Training; Exoskeletons; Elbow; Admittance; Torque; Backstepping; Sliding mode control; Soft elbow exoskeleton; adaptive cooperative multi-mode control; sEMG; neural network compensation; active participation
Categories
Ask authors/readers for more resources
This article proposes a soft elbow rehabilitation exoskeleton for the multi-mode training of disabled patients. The control strategy, which combines adaptive cooperative admittance backstepping control, sEMG-based joint torque estimation, and neural network compensation, can induce the active participation of patients and ensure the safety and effectiveness of training. Experimental results demonstrate the superiority of the proposed control strategy in improving position control performance and meeting the training requirements of patients with different degrees of hemiplegia.
Soft rehabilitation exoskeletons have gained much attention in recent years, striving to assist the paralyzed individuals restore motor functions. However, it is a challenge to promote human-robot interaction property and satisfy personalized training requirements. This article proposes a soft elbow rehabilitation exoskeleton for the multi-mode training of disabled patients. An adaptive cooperative admittance backstepping control strategy combined with surface electromyography (sEMG)-based joint torque estimation and neural network compensation is developed, which can induce the active participation of patients and guarantee the accomplishment and safety of training. The proposed control scheme can be transformed into four rehabilitation training modes to optimize the cooperative training performance. Experimental studies involving four healthy subjects and four paralyzed subjects are carried out. The average root mean square error and peak error in trajectory tracking test are 3.18 degrees and 5.68 degrees. The active cooperation level can be adjusted via admittance model, ranging from 4.51 degrees /Nm to 10.99 degrees /Nm. In cooperative training test, the average training mode value and effort score of healthy subjects (i.e., 1.58 and 1.50) are lower than those of paralyzed subjects (i.e., 2.42 and 3.38), while the average smoothness score and stability score of healthy subjects (i.e., 3.25 and 3.42) are higher than those of paralyzed subjects (i.e., 1.67 and 1.71). The experimental results verify the superiority of proposed control strategy in improving position control performance and satisfying the training requirements of the patients with different hemiplegia degrees and training objectives.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available