一种辅助机器人装置,可以在人类步态训练中同步骨盆运动

D. Aoyagi, W. Ichinose, S. Harkema, D. Reinkensmeyer, J. Bobrow
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引用次数: 52

摘要

我们正在开发一种机器人装置,PAM(骨盆辅助机械手),它可以在跑步机上进行人体步态训练时帮助骨盆运动。PAM允许骨盆的自然运动由六个气缸驱动,这些气缸与非线性力跟踪控制器相结合,以相对较低的成本提供反驾驶性和大的力输出。PAM可以作为一个带有PD位置控制器的教学回放装置,在有或没有治疗师帮助的情况下,将骨盆驱动到指定的参考轨迹上。在对未受损受试者的初始实验中,我们遇到了一个问题,即受试者很难将他们的运动与PAM再现的步态模式同步,即使步态模式是从受试者自己身上采样的。我们引入了脚开关来检测步态时间,并开发了一种反馈控制算法来实时调整步态模式的回放速度。提出了反馈算法,并提供了数据,显示了该算法在未受损受试者步长和周期改变时同步机器人辅助的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
An assistive robotic device that can synchronize to the pelvic motion during human gait training
We are developing a robotic device, PAM (pelvic assist manipulator), that assists the pelvic motion during human gait training on a treadmill. PAM allows naturalistic motion of pelvis actuated by six pneumatic cylinders, which, combined with a nonlinear force-tracking controller, provide backdrivability and large force output at a relatively low cost. PAM can act as a teach-and-replay device with a PD position controller driving the pelvis onto the reference trajectory specified with or without the help of therapists. During initial experiments with unimpaired subjects, we encountered a problem in which the subjects had difficulty synchronizing their movements with the gait pattern reproduced by PAM, even though that gait pattern had been sampled from the subjects themselves. We introduced footswitches to detect the gait timing and developed a feedback control algorithm that adjusts the play-back speed of the gait pattern in real-time. The feedback algorithm is presented, along with data that shows the effectiveness of the algorithm in synchronizing the robotic assistance during stepping by unimpaired subjects, even when the subjects change their step size and period.
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