Neural network-based hybrid human-in-the-loop control for meal assistance orthosis
Neural network-based hybrid human-in-the-loop control for meal assistance orthosis
复制标题
基于神经网络的进餐辅助矫形器混合人机控制
DOI：
10.1109/tnsre.2005.863840
复制
发表时间：
2006
影响因子：
4.9
通讯作者：
M. Nakamura
中科院分区：
文献类型：
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作者：
Tao Zhang;M. Nakamura
为了帮助一些因神经残疾或脊髓疾病而部分或完全失去上肢活动能力的老年人和残疾人独立进食，最近开发了一种新型的助餐矫形器。本文提出了一种基于神经网络的混合人在回路控制，这种膳食辅助矫形器的功能和安全的目的。在该方法中，位置控制和无力控制集成到一个单一的控制器的基础上的模型的膳食辅助矫形器。通过位置控制，控制助餐矫形器产生适当的补偿力以辅助上肢运动。为了减少由于大的外力冲击而伤害人类最终使用者的身体和损坏装置的风险，通过无力控制，助餐矫形器可以在大的外力驱动下灵活地移动。另外，本发明的助餐矫形器的控制器可以通过设计的过程在位置控制和无力控制之间平滑切换，避免硬切换瞬间产生较大的外力。为了提高该方法对不同对象的适应性，在控制器中采用了神经网络。此外，该方法在控制过程中充分考虑了上肢外力的影响，形成了一种人在回路控制。通过对助餐矫形器的仿真和实验，验证了该方法的有效性。
In order to assist some elderly and disabled people, who have partly or completely lost the ability of moving their upper limbs due to neurological disabilities or spinal cord disease, to take meals by themselves independently, a new type of meal assistance orthosis was recently developed. This paper presents a neural network-based hybrid human-in-the-loop control for this meal assistance orthosis with functional and safety purposes. In this approach, the position control and the force-free control are integrated into a single controller based on the model of meal assistance orthosis. By means of the position control, the meal assistance orthosis is controlled to generate appropriate compensation forces for assisting the movement of upper limb. In order to reduce the risk of hurting the bodies of human end-users and of damaging the device due to the impact from large external forces, with the force-free control, the meal assistance orthosis can flexibly move with the driven of large external forces. In addition, the controller of the meal assistance orthosis can be smoothly switched between the position control and the force-free control through a designed process to avoid instantaneously generating large external force owing to hard switching. In order to improve the adaptability of the proposed approach to different subjects, neural networks are adopted in the controller. Moreover, the proposed approach fully takes into account the influence of external forces induced by upper limb in the control process to form a kind of human-in-the-loop control. With the simulation and experiment of the meal assistance orthosis, the effectiveness of the proposed method was verified.
DOI：
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发表时间：
2003
期刊：
Proc. of 2003 IEEE Int. Symp. on Computational Intelligence in Robotics and Automation (CIRA2003)
影响因子：
--
作者：
鈴木隆弘;森田良文他6名;Y.Morita;H.Maeda
通讯作者：
H.Maeda