脑卒中后运动学习的上肢外骨骼CASIA-EXO的开发与控制

IF 19.2 1区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Ieee-Caa Journal of Automatica Sinica Pub Date : 2025-03-07 DOI:10.1109/JAS.2024.124662

Chen Wang;Liang Peng;Zeng-Guang Hou

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引用次数: 0

摘要

这封信调查了多关节康复外骨骼的系统发展，并强调了有效运动学习的主体自适应控制因素。为了使人类上肢能够自然活动，我们通过排列三个锐角旋转关节来设计肩部机构，并采用串联链式结构进行全构系统。在对CASIA-EXO进行运动学和动力学建模的基础上，提出了基于意图的轨迹规划和基于性能的干预适应的康复训练患者在环控制策略。最后，我们通过实验验证了控制系统的有效性，进一步证明了CASIA-EXO在神经康复中的潜力。

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Development and Control of an Upper-Limb Exoskeleton CASIA-EXO for Motor Learning in Post-Stroke Rehabilitation

Dear Editor, This letter investigates the system development of a multi-joint rehabilitation exoskeleton, and highlights the subject-adaptive control factors for efficient motor learning. In order to enable the natural mobility of the human upper extremity, we design the shoulder mechanism by arranging three rotational joints with acute angles, and adopt a serial chain structure for the fully constructed system. After the kinematics and dynamics of CASIA-EXO are modelled, the patient-in-the-loop control strategy is proposed for rehabilitation training, consisting of the intention-based trajectory planning and performance-based intervention adaptation. Finally, we conduct experiments to validate the efficacy of the control system, and further demonstrate the potential of CASIA-EXO in neurorehabilitation.

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来源期刊

Ieee-Caa Journal of Automatica Sinica Engineering-Control and Systems Engineering

CiteScore

23.50

自引率

11.00%

发文量

880

期刊介绍： The IEEE/CAA Journal of Automatica Sinica is a reputable journal that publishes high-quality papers in English on original theoretical/experimental research and development in the field of automation. The journal covers a wide range of topics including automatic control, artificial intelligence and intelligent control, systems theory and engineering, pattern recognition and intelligent systems, automation engineering and applications, information processing and information systems, network-based automation, robotics, sensing and measurement, and navigation, guidance, and control. Additionally, the journal is abstracted/indexed in several prominent databases including SCIE (Science Citation Index Expanded), EI (Engineering Index), Inspec, Scopus, SCImago, DBLP, CNKI (China National Knowledge Infrastructure), CSCD (Chinese Science Citation Database), and IEEE Xplore.