A novel intention-aware control framework for rehabilitation robots using synchronization of interacting oscillators

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-08-23 DOI:10.1016/j.conengprac.2025.106542

Hamidreza Torkestani , Mohammad Zareinejad , Mahyar Naraghi

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引用次数: 0

Abstract

In recent decades, rehabilitation robots have gained significant attention for restoring patients' motor abilities. Most prior studies have proposed control approaches without accounting for variations in patients' motor abilities and movement intentions. Given the repetitive nature of rehabilitation exercises, this study aims to address these limitations by considering the limb and the robot as interacting oscillators and leveraging the synchronization capability inherent to such systems. The proposed control framework establishes a virtual coupling between the limb and the rehabilitation robot to achieve synchronization, employs a morphed oscillator to generate task-specific reference trajectories, and incorporates a robust-adaptive sliding mode controller to determine the appropriate level of robotic assistance. To validate this approach, the framework was implemented on an experimental setup consisting of a soft pneumatic robot and a flexible-jointed artificial finger. Experimental results demonstrate that the proposed framework effectively provides intention-aware robotic assistance without relying on bioelectrical signals or direct force measurements.

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一种基于交互振荡器同步的康复机器人意向感知控制框架

近几十年来，康复机器人在恢复病人运动能力方面获得了极大的关注。大多数先前的研究提出的控制方法没有考虑到患者运动能力和运动意图的变化。鉴于康复训练的重复性，本研究旨在通过将肢体和机器人视为相互作用的振荡器并利用此类系统固有的同步能力来解决这些限制。所提出的控制框架在肢体和康复机器人之间建立虚拟耦合以实现同步，采用变形振荡器生成特定任务的参考轨迹，并结合鲁棒自适应滑模控制器来确定机器人的适当辅助水平。为了验证这种方法，在一个由柔性气动机器人和柔性关节人工手指组成的实验装置上实现了该框架。实验结果表明，所提出的框架有效地提供了意图感知机器人辅助，而不依赖于生物电信号或直接的力测量。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.