Design and Patient-Oriented Control of A Rehabilitation Assistance Upper Exoskeleton

IF 0.4 4区 计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS
Huu-Toan Tran, Son Manh Tran
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引用次数: 0

Abstract

Inspired by the difficulties behind specification requirements as well as realizing the applicable capacity of upper exoskeleton robots, this paper presents the design and development of an original prototype of Rehabilitation Assistance UPper EXoskeleton (RAUPEX). The exoskeleton is designed through the analysis of human's upper limb biomechanics and dynamics. Based on the requirements of human joint power, the solutions of mechanism and actuator for the exoskeleton are drawn. During development of the exoskeleton, a basic control hardware is built to ensure real-time control performance besides a custom-built control panel for users. A patient-oriented control strategy allows RAUPEX to assist patients with various disability level in rehabilitation. The robot's applicable efficiency has been evaluated through rehabilitation training tests on healthy persons as quasi-patients via fundamental criteria in the exoskeleton development. Normalized square sum of angular operator-exoskeleton errors that is $(25.3\pm2.45)\times10^{-3}$ for active control and is $(5.89\pm0.42)\times10^{-3}$ for passive control. Moreover, the resulting operator-exoskeleton interaction force which is maximum of $7.75$ N at upper arm and $4.32$ N at lower arm enables RAUPEX to accurately assist rehabilitation exercises without discomfort. Over $87\%$ of experimental participants claimed to feel comfortable which proves the developed exoskeleton has the potential to increase efficiency and adaptation to users during rehabilitation procedure. DOI: 10.61416/ceai.v25i3.8341
一种康复辅助上肢外骨骼的设计与病人导向控制
基于规范要求背后的困难,以及实现上肢外骨骼机器人的适用能力,本文设计并开发了一种康复辅助上肢外骨骼(Rehabilitation Assistance upper exoskeleton, RAUPEX)的原始样机。通过对人体上肢生物力学和动力学的分析,设计了外骨骼。根据人体关节动力的要求,给出了外骨骼机构和执行机构的解决方案。在外骨骼的开发过程中,除了为用户定制的控制面板外,还构建了一个基本的控制硬件来确保实时控制性能。以患者为导向的控制策略使RAUPEX能够帮助不同残疾程度的患者进行康复。通过外骨骼发育的基本标准,对健康人作为准患者进行康复训练测试,评估机器人的应用效率。角算子外骨骼误差归一化平方和,主动控制为$(25.3\pm2.45)\times10^{-3}$,被动控制为$(5.89\pm0.42)\times10^{-3}$。此外,由此产生的操作者-外骨骼相互作用力(上臂最大为7.75美元N,下臂最大为4.32美元N)使RAUPEX能够准确地辅助康复运动而不会感到不适。超过87%的实验参与者声称感到舒适,这证明了开发的外骨骼在康复过程中具有提高效率和适应用户的潜力。DOI: 10.61416 / ceai.v25i3.8341
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来源期刊
CiteScore
1.50
自引率
22.20%
发文量
0
审稿时长
6 months
期刊介绍: The Journal is promoting theoretical and practical results in a large research field of Control Engineering and Technical Informatics. It has been published since 1999 under the Romanian Society of Control Engineering and Technical Informatics coordination, in its quality of IFAC Romanian National Member Organization and it appears quarterly. Each issue has up to 12 papers from various areas such as control theory, computer engineering, and applied informatics. Basic topics included in our Journal since 1999 have been time-invariant control systems, including robustness, stability, time delay aspects; advanced control strategies, including adaptive, predictive, nonlinear, intelligent, multi-model techniques; intelligent control techniques such as fuzzy, neural, genetic algorithms, and expert systems; and discrete event and hybrid systems, networks and embedded systems. Application areas covered have been environmental engineering, power systems, biomedical engineering, industrial and mobile robotics, and manufacturing.
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