Neural network based patient recovery estimation of a PAM-based rehabilitation robot

IF 0.6 Q3 ENGINEERING, MULTIDISCIPLINARY

Acta Polytechnica Pub Date : 2023-07-04 DOI:10.14311/ap.2023.63.0179

Van-Vuong Dinh, Minh-Chien Trinh, Tien-Dat Bui, M. Duong, Q. Dao

引用次数: 0

Abstract

Rehabilitation robots have shown a promise in aiding patient recovery by supporting them in repetitive, systematic training sessions. A critical factor in the success of such training is the patient’s recovery progress, which can guide suitable treatment plans and reduce recovery time. In this study, a neural network-based approach is proposed to estimate the patient’s recovery, which can aid in the development of an assist-as-needed training strategy for the gait training system. Experimental results show that the proposed method can accurately estimate the external torques generated by the patient to determine their recovery. The estimated patient recovery is used for an impedance control of a 2-DOF robotic orthosis powered by pneumatic artificial muscles, which improves the robot joint compliance coefficients and makes the patient more comfortable and confident during rehabilitation exercises.

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基于神经网络的pam康复机器人患者康复估计

康复机器人通过支持病人进行重复的、系统的训练，在帮助病人康复方面显示出了前景。这种训练成功的一个关键因素是患者的康复进度，它可以指导合适的治疗方案，缩短康复时间。在这项研究中，提出了一种基于神经网络的方法来估计患者的恢复，这可以帮助步态训练系统开发一种按需辅助训练策略。实验结果表明，该方法可以准确地估计出患者产生的外部转矩，从而确定其恢复情况。估计的患者恢复用于气动人工肌肉驱动的2-DOF机器人矫形器的阻抗控制，提高了机器人关节顺应系数，使患者在康复训练中更加舒适和自信。

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

Acta Polytechnica ENGINEERING, MULTIDISCIPLINARY-

CiteScore

1.90

自引率

12.50%

发文量

审稿时长

24 weeks

期刊介绍： Acta Polytechnica is a scientific journal published by CTU in Prague. The main title, Acta Polytechnica, is accompanied by the subtitle Journal of Advanced Engineering, which defines the scope of the journal more precisely - Acta Polytechnica covers a wide spectrum of engineering topics, physics and mathematics. Our aim is to be a high-quality multi-disciplinary journal publishing the results of basic research and also applied research. We place emphasis on the quality of all published papers. The journal should also serve as a bridge between basic research in natural sciences and applied research in all technical disciplines. The innovative research results published by young researchers or by postdoctoral fellows, and also the high-quality papers by researchers from the international scientific community, reflect the good position of CTU in the World University Rankings. We hope that you will ﬁnd our journal interesting, and that it will serve as a valuable source of scientiﬁc information.