Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation
Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation
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DOI：
10.3390/app8040499
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发表时间：
2018-04-01
影响因子：
2.7
通讯作者：
Yamamoto, Shin-ichiroh
中科院分区：
文献类型：
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作者：
Quy-Thinh Dao;Yamamoto, Shin-ichiroh
康复机器人旨在帮助患者通过支持他们进行重复和系统的训练课程来改善他们的恢复。这些机器人不仅能够引导受试者的下肢到指定的轨迹，而且还能够估计他们的残疾并相应地调整顺应性。在本研究中，一个新的控制策略，为高顺应性下肢康复矫形器系统命名为AIRGAIT。AIRGAIT矫形器由气动人工肌肉驱动器提供动力。轨迹跟踪控制器的基础上修改的计算转矩控制，采用分数阶导数的跟踪目的。此外，还提出了一种新的机器人矫形器顺应性控制方法，从而成功实施了按需辅助训练策略。最后，进行了各种主题为基础的实验，以验证所开发的控制系统的有效性。
Rehabilitation robots are designed to help patients improve their recovery from injury by supporting them to perform repetitive and systematic training sessions. These robots are not only able to guide the subjects' lower-limb to a designate trajectory, but also estimate their disability and adapt the compliance accordingly. In this research, a new control strategy for a high compliant lower-limb rehabilitation orthosis system named AIRGAIT is developed. The AIRGAIT orthosis is powered by pneumatic artificial muscle actuators. The trajectory tracking controller based on a modified computed torque control which employs a fractional derivative is proposed for the tracking purpose. In addition, a new method is proposed for compliance control of the robotic orthosis which results in the successful implementation of the assist-as-needed training strategy. Finally, various subject-based experiments are carried out to verify the effectiveness of the developed control system.