Patient-Active Control of a Powered Exoskeleton Targeting Upper Limb Rehabilitation Training
Robot-assisted therapy affords effective advantages to the rehabilitation training of patients with motion impairment problems. To meet the challenge of integrating the active participation of a patient in robotic training, this study presents an admittance-based patient-active control scheme for re...
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doaj-f6105cd349e14b4d81a3cc34b521eb582020-11-25T02:32:15ZengFrontiers Media S.A.Frontiers in Neurology1664-22952018-10-01910.3389/fneur.2018.00817404487Patient-Active Control of a Powered Exoskeleton Targeting Upper Limb Rehabilitation TrainingQingcong Wu0Xingsong Wang1Bai Chen2Hongtao Wu3College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaCollege of Mechanical Engineering, Southeast University, Nanjing, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaRobot-assisted therapy affords effective advantages to the rehabilitation training of patients with motion impairment problems. To meet the challenge of integrating the active participation of a patient in robotic training, this study presents an admittance-based patient-active control scheme for real-time intention-driven control of a powered upper limb exoskeleton. A comprehensive overview is proposed to introduce the major mechanical structure and the real-time control system of the developed therapeutic robot, which provides seven actuated degrees of freedom and achieves the natural ranges of human arm movement. Moreover, the dynamic characteristics of the human-exoskeleton system are studied via a Lagrangian method. The patient-active control strategy consisting of an admittance module and a virtual environment module is developed to regulate the robot configurations and interaction forces during rehabilitation training. An audiovisual game-like interface is integrated into the therapeutic system to encourage the voluntary efforts of the patient and recover the neural plasticity of the brain. Further experimental investigation, involving a position tracking experiment, a free arm training experiment, and a virtual airplane-game operation experiment, is conducted with three healthy subjects and eight hemiplegic patients with different motor abilities. Experimental results validate the feasibility of the proposed scheme in providing patient-active rehabilitation training.https://www.frontiersin.org/article/10.3389/fneur.2018.00817/fullupper limb exoskeletonrobot-assistedrehabilitation trainingpatient-active controlintention-drivenvirtual environment |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Qingcong Wu Xingsong Wang Bai Chen Hongtao Wu |
spellingShingle |
Qingcong Wu Xingsong Wang Bai Chen Hongtao Wu Patient-Active Control of a Powered Exoskeleton Targeting Upper Limb Rehabilitation Training Frontiers in Neurology upper limb exoskeleton robot-assisted rehabilitation training patient-active control intention-driven virtual environment |
author_facet |
Qingcong Wu Xingsong Wang Bai Chen Hongtao Wu |
author_sort |
Qingcong Wu |
title |
Patient-Active Control of a Powered Exoskeleton Targeting Upper Limb Rehabilitation Training |
title_short |
Patient-Active Control of a Powered Exoskeleton Targeting Upper Limb Rehabilitation Training |
title_full |
Patient-Active Control of a Powered Exoskeleton Targeting Upper Limb Rehabilitation Training |
title_fullStr |
Patient-Active Control of a Powered Exoskeleton Targeting Upper Limb Rehabilitation Training |
title_full_unstemmed |
Patient-Active Control of a Powered Exoskeleton Targeting Upper Limb Rehabilitation Training |
title_sort |
patient-active control of a powered exoskeleton targeting upper limb rehabilitation training |
publisher |
Frontiers Media S.A. |
series |
Frontiers in Neurology |
issn |
1664-2295 |
publishDate |
2018-10-01 |
description |
Robot-assisted therapy affords effective advantages to the rehabilitation training of patients with motion impairment problems. To meet the challenge of integrating the active participation of a patient in robotic training, this study presents an admittance-based patient-active control scheme for real-time intention-driven control of a powered upper limb exoskeleton. A comprehensive overview is proposed to introduce the major mechanical structure and the real-time control system of the developed therapeutic robot, which provides seven actuated degrees of freedom and achieves the natural ranges of human arm movement. Moreover, the dynamic characteristics of the human-exoskeleton system are studied via a Lagrangian method. The patient-active control strategy consisting of an admittance module and a virtual environment module is developed to regulate the robot configurations and interaction forces during rehabilitation training. An audiovisual game-like interface is integrated into the therapeutic system to encourage the voluntary efforts of the patient and recover the neural plasticity of the brain. Further experimental investigation, involving a position tracking experiment, a free arm training experiment, and a virtual airplane-game operation experiment, is conducted with three healthy subjects and eight hemiplegic patients with different motor abilities. Experimental results validate the feasibility of the proposed scheme in providing patient-active rehabilitation training. |
topic |
upper limb exoskeleton robot-assisted rehabilitation training patient-active control intention-driven virtual environment |
url |
https://www.frontiersin.org/article/10.3389/fneur.2018.00817/full |
work_keys_str_mv |
AT qingcongwu patientactivecontrolofapoweredexoskeletontargetingupperlimbrehabilitationtraining AT xingsongwang patientactivecontrolofapoweredexoskeletontargetingupperlimbrehabilitationtraining AT baichen patientactivecontrolofapoweredexoskeletontargetingupperlimbrehabilitationtraining AT hongtaowu patientactivecontrolofapoweredexoskeletontargetingupperlimbrehabilitationtraining |
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