Wenzhuo Zhi, Wei Zhao, Yan Zhang, Enming Shi, Yangfan Zhou, Bi Zhang
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引用次数: 0
Abstract
Introduction: Respiratory dysfunction remains a critical challenge for patients transitioning from intensive care. However, existing assistive devices often fail to address both human-robot dynamic synchronization and patient safety due to the lack of interaction force control. Therefore, this study proposes a human-robot force interaction control strategy by integrating a flexible force sensor, aimed at achieving precise alignment between assistive forces and natural respiratory rhythms.
Methods: In this study, a wearable respiratory assistive robotic system was developed to provide respiratory assistance by applying compressive force to the user's abdomen through soft origami actuators. A thoracoabdominal biomechanical transmission analysis was conducted to reveal the cross-domain force transfer mechanisms. To improve the human-robot adaptability, a dual-layer control architecture for force-pressure coordinated control was designed. Besides, through hardware integration and system building, along with the implementation of interaction force control, the respiratory assistive robot achieves effective respiratory assistance control.
Results: Within the 12-40 breaths/min effective respiratory rate range, PEF, MTV, and MV improved significantly. PEF had a 20.12% average increase, MTV a 19.69% average boost, and MV a 15.5% average rise. Statistically, PEF and MV improvements were highly significant across this range, while MTV was highly significant at 20 breaths/min. Respiratory MV measurements segmented by phase showed that the robot enhanced expiratory function and improved inspiratory function at certain rates within 12-40 breaths/min.
Discussion: The proposed human-robot interaction control system integrates hardware and control systems. Tests on healthy subjects in the effective operating range show that the robotic system can enhance subjects' overall respiratory function and ventilation function, offering a technical reference for future respiratory-assist robot development.
期刊介绍：
The translation of new discoveries in medicine to clinical routine has never been easy. During the second half of the last century, thanks to the progress in chemistry, biochemistry and pharmacology, we have seen the development and the application of a large number of drugs and devices aimed at the treatment of symptoms, blocking unwanted pathways and, in the case of infectious diseases, fighting the micro-organisms responsible. However, we are facing, today, a dramatic change in the therapeutic approach to pathologies and diseases. Indeed, the challenge of the present and the next decade is to fully restore the physiological status of the diseased organism and to completely regenerate tissue and organs when they are so seriously affected that treatments cannot be limited to the repression of symptoms or to the repair of damage. This is being made possible thanks to the major developments made in basic cell and molecular biology, including stem cell science, growth factor delivery, gene isolation and transfection, the advances in bioengineering and nanotechnology, including development of new biomaterials, biofabrication technologies and use of bioreactors, and the big improvements in diagnostic tools and imaging of cells, tissues and organs.
In today`s world, an enhancement of communication between multidisciplinary experts, together with the promotion of joint projects and close collaborations among scientists, engineers, industry people, regulatory agencies and physicians are absolute requirements for the success of any attempt to develop and clinically apply a new biological therapy or an innovative device involving the collective use of biomaterials, cells and/or bioactive molecules. “Frontiers in Bioengineering and Biotechnology” aspires to be a forum for all people involved in the process by bridging the gap too often existing between a discovery in the basic sciences and its clinical application.
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