人体关节力矩的无传感器估计用于下肢外骨骼辅助步态康复的鲁棒跟踪控制

IF 3.3 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS
A. Abdullahi, R. Chaichaowarat
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引用次数: 2

摘要

严重脊髓损伤或中风导致运动障碍或虚弱的患者通常需要康复治疗以恢复其活动能力。在下肢,外骨骼有两个与患者髋关节和膝关节对齐的马达,通过支持患者的身体结构来增加髋关节和膝关节的扭矩,以辅助康复锻炼。然而,辅助康复具有挑战性,因为人的扭矩是未知的,并且因人而异。这给确定特定病人所需的援助水平带来了困难。因此,本文提出了一种基于改进扩展状态观测器(ESO)的下肢外骨骼辅助步态康复积分滑模(ISM)控制器(MESOISMC)。ESO用于在不使用扭矩传感器的情况下估计未知的人体扭矩,ISMC用于将估计的人体扭矩作为干扰来实现对预设髋关节和膝关节角度的鲁棒跟踪。使用平均绝对误差(MAE)评估所提出的MESOISMC的性能。结果表明,与两种控制器均经过LMI优化的ISMC相比,所提出的MESOISMC对髋关节和关节角度的MAE分别降低了85.02%和87.38%。结果还表明,MESOISMC方法在步态康复训练中对用户的舒适性和安全性是有效和高效的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Sensorless Estimation of Human Joint Torque for Robust Tracking Control of Lower-Limb Exoskeleton Assistive Gait Rehabilitation
Patients suffering from motor disorders or weakness resulting from either serious spinal cord injury or stroke often require rehabilitation therapy to regain their mobility. In the lower limbs, exoskeletons have two motors aligned with the patients’ hip and knee to assist in rehabilitation exercises by supporting the patient’s body structure to increase the torques at the hip and knee joints. Assistive rehabilitation is, however, challenging, as the human torque is unknown and varies from patient to patient. This poses difficulties in determining the level of assistance required for a particular patient. In this paper, therefore, a modified extended state observer (ESO)-based integral sliding mode (ISM) controller (MESOISMC) for lower-limb exoskeleton assistive gait rehabilitation is proposed. The ESO is used to estimate the unknown human torque without application of a torque sensor while the ISMC is used to achieve robust tracking of preset hip and knee joint angles by considering the estimated human torque as a disturbance. The performance of the proposed MESOISMC was assessed using the mean absolute error (MAE). The obtained results show an 85.02% and 87.38% reduction in the MAE for the hip and joint angles, respectively, when the proposed MESOISMC is compared with ISMC with both controllers tuned via LMI optimization. The results also indicate that the proposed MESOISMC method is effective and efficient for user comfort and safety during gait rehabilitation training.
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来源期刊
Journal of Sensor and Actuator Networks
Journal of Sensor and Actuator Networks Physics and Astronomy-Instrumentation
CiteScore
7.90
自引率
2.90%
发文量
70
审稿时长
11 weeks
期刊介绍: Journal of Sensor and Actuator Networks (ISSN 2224-2708) is an international open access journal on the science and technology of sensor and actuator networks. It publishes regular research papers, reviews (including comprehensive reviews on complete sensor and actuator networks), and short communications. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced.
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